CN114903744A - Gloomy rehabilitation training control method and rehabilitation training system - Google Patents

Abstract

The application provides a gloomy rehabilitation training control method and a rehabilitation training system, and relates to the technical field of medical rehabilitation instruments. The application is applied to the controller in the rehabilitation training system, and the rehabilitation training system further comprises: an air pump, a plurality of control valves; when controlling the rehabilitation training glove, firstly determining a target hand training action in a preset hand rehabilitation training mode; determining a target finger training part corresponding to the target hand training action and the state of a control valve connected with the target finger training part according to the target hand training action; and finally, controlling the target finger training part to execute the target hand training action according to the state of the control valve connected with the target finger training part. The user can select the hand rehabilitation training mode according to the needs of the user, the higher and more flexible rehabilitation requirements of the patient are met, the method is more flexible and practical, and more effective and safer hand rehabilitation training is achieved.

Description

Gloomy rehabilitation training control method and rehabilitation training system

Technical Field

The invention relates to the technical field of medical rehabilitation instruments, in particular to a gloving exercise rehabilitation training control method and a rehabilitation training system.

Background

With the increasing number of patients with cardiovascular and cerebrovascular diseases, hand trauma, nerve injury, limb disorders and the like, hand rehabilitation is more and more emphasized.

The existing hand rehabilitation training mode is single, the exercise effect on the hand muscle of a patient is very limited, and the higher and more flexible rehabilitation requirements of the patient cannot be met.

Disclosure of Invention

The present invention aims to provide a glove exercise rehabilitation training control method and a rehabilitation training system to achieve more effective and safe hand rehabilitation training, aiming at the above-mentioned deficiencies in the prior art.

In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

in a first aspect, an embodiment of the present application provides a glove exercise rehabilitation training control method, which is applied to a controller in a rehabilitation training system, where the rehabilitation training system further includes: the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through the control valves, and the controller is also electrically connected with the control valves; the method comprises the following steps:

determining a target hand training action in a preset hand rehabilitation training mode;

according to the target hand training action, determining a target finger training part corresponding to the target hand training action and states of a control valve connected with the target finger training part;

and controlling the target finger training part to execute the target hand training action according to the state of a control valve connected with the target finger training part.

Optionally, the determining the target hand training action in the preset hand rehabilitation training mode includes:

if the hand rehabilitation training mode is a mirror image hand operation training mode, acquiring finger actions detected by the data glove;

determining the finger motion as the target hand training motion.

Optionally, the determining the target hand training action in the preset hand rehabilitation training mode includes:

and if the hand rehabilitation training mode is a non-mirror image hand operation training mode, according to the hand rehabilitation training mode, adopting a preset corresponding relation between the hand rehabilitation training mode and the action sequence, and determining that a plurality of hand training actions in the action sequence corresponding to the hand rehabilitation training mode are the target hand training actions.

Optionally, if the hand rehabilitation training mode is a passive hand operation training mode, then the plurality of hand training actions include in sequence: a plurality of hand training actions performed according to a preset time sequence.

Optionally, if hand rehabilitation training mode is the back extension hand operation training mode, then a plurality of hand training actions include in proper order: and a plurality of back-extending hand movements, wherein the interval between every two adjacent hand training movements is preset.

Optionally, an air pressure sensor is connected between the air pump and the plurality of control valves; the method further comprises the following steps:

calculating air pressure variation according to the air pressure value of the air path detected by the air pressure sensor at the first moment and the air pressure value of the air path detected by the air pressure sensor at the second moment;

and calculating the hand rehabilitation degree of the target user in the rehabilitation training glove according to the air pressure variation.

Optionally, the method further includes:

and calculating the hand movement direction of the target user according to the air pressure variation.

In a second aspect, an embodiment of the present application further provides a control device for a rehabilitation training glove, which is applied to a controller in a rehabilitation training system, where the rehabilitation training system further includes: the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through the control valves, and the controller is also electrically connected with the control valves; the device comprises: the system comprises an action determining module, a target determining module and an executing module;

the action determining module is used for determining a target hand training action in a preset hand rehabilitation training mode;

the target determining module is used for determining a target finger training part corresponding to the target hand training action and the state of a control valve connected with the target finger training part according to the target hand training action;

and the execution module is used for controlling the target finger training part to execute the target hand training action according to the state of a control valve connected with the target finger training part.

In a third aspect, an embodiment of the present application further provides a rehabilitation training system, including: the controller is electrically connected with the air pump, the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through the control valves, and the controller is also electrically connected with the control valves; the controller is configured to perform the steps of the glove exercise rehabilitation training control method according to any one of the first aspect.

Optionally, the rehabilitation training system further includes: a data glove; the data glove is electrically connected with the controller;

the data glove is used for acquiring hand motion data of a target user in the data glove and sending the hand motion data to the controller.

Optionally, the rehabilitation training system further includes: an air pressure sensor; the air pressure sensor is connected with the air pump air path, and the air pressure sensor is connected with the control valves through the air path; the air pressure sensor is electrically connected with the controller;

the air pressure sensor is used for detecting the air circuit air pressure value of the air circuit and sending the detected air circuit air pressure value to the controller.

In a fourth aspect, an embodiment of the present application further provides a controller, including: the glove exercise rehabilitation training control method comprises a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, when the controller runs, the processor and the storage medium are communicated through the bus, and the processor executes the program instructions to execute the steps of the glove exercise rehabilitation training control method according to any one of the first aspect.

The beneficial effect of this application is: the embodiment of the application provides a gloving exercises rehabilitation training control method, which is applied to a controller in a rehabilitation training system, wherein the rehabilitation training system further comprises: the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through a plurality of control valves, and the controller is also electrically connected with the plurality of control valves; when controlling the rehabilitation training glove, firstly determining a target hand training action in a preset hand rehabilitation training mode; determining a target finger training part corresponding to the target hand training action and the state of a control valve connected with the target finger training part according to the target hand training action; and finally, controlling the target finger training part to execute the target hand training action according to the state of the control valve connected with the target finger training part. The user can select the hand rehabilitation training mode according to the needs of the user, the higher and more flexible rehabilitation requirements of the patient are met, the method is more flexible and practical, and more effective and safer hand rehabilitation training is achieved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a flowchart of a glove exercise rehabilitation training control method according to an embodiment of the present application;

fig. 2 is a schematic diagram of a rehabilitation training system according to an embodiment of the present application;

FIG. 3 is a flowchart of a glove exercise rehabilitation training control method according to another embodiment of the present application;

fig. 4 is a flowchart of rehabilitation training for stretching the hand from the back according to an embodiment of the present disclosure;

FIG. 5 is a flowchart of a glove exercise rehabilitation training control method according to another embodiment of the present application;

FIG. 6 is a schematic view of a control device of a rehabilitation training glove according to an embodiment of the present application;

fig. 7 is a schematic diagram of a controller according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.

In this application, unless explicitly stated or limited otherwise, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one feature. In the description of the present invention, "a plurality" means at least two, for example, two, three, unless specifically defined otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

According to medical statistics, the limb dysfunction caused by cardiovascular and cerebrovascular diseases, hand trauma, nerve injury and other reasons often has serious influence on the life of patients, particularly the sequelae of hand dysfunction have great difficulty and slow progress in the rehabilitation process. In order to replace the expensive and time-consuming physical therapist work, a plurality of hand rehabilitation devices are developed, however, the existing hand rehabilitation training devices are single in training mode, have limited exercise effect on hand muscles of patients, cannot meet the higher and more flexible rehabilitation requirements of the patients, and present inaccurate and incomplete conditions for the functional evaluation of the hands of the patients.

In view of the above technical problems, the embodiments of the present application provide a plurality of possible implementation manners to achieve more effective and safe hand rehabilitation training. The following is explained by way of a number of examples in connection with the drawings. Fig. 1 is a flowchart of a glove exercise rehabilitation training control method according to an embodiment of the present application, which may be implemented by a controller in a rehabilitation training system operating the glove exercise rehabilitation training control method. The rehabilitation training system further comprises: the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through a plurality of control valves, and the controller is also electrically connected with the plurality of control valves; as shown in fig. 1, the method includes:

step 101: and determining the target hand training action in the preset hand rehabilitation training mode.

It should be noted that the glove exercise rehabilitation training control method is applied to a rehabilitation training system, and an air pump in the rehabilitation training system is connected with a plurality of finger training part air paths in the rehabilitation training gloves through a plurality of control valves. Wherein, the rehabilitation training glove can be a soft glove, for example. Wherein, the software gloves are the gloves that can drive gloves in expected mode activity through changing finger training portion fluid pressure thereby to drive the activity of gloves wearers hand, and in actual implementation, finger training portion fluid pressure can be adjusted through forms such as liquid, gas, this application does not do the restriction to this. In a specific implementation manner, the soft glove may be, for example, a soft glove with pneumatic structures respectively arranged based on positions of finger joints, which is not limited in the present application.

The rehabilitation training system of the present application is first explained below:

fig. 2 is a schematic diagram of a rehabilitation training system according to an embodiment of the present application, and as shown in fig. 2, in addition to the controller a1, the rehabilitation training system further includes: the air pump P1 and a plurality of control valves K, the controller A1 is electrically connected with the air pump P1, the air pump P1 is connected with a plurality of finger training part air circuits in the rehabilitation training glove G1 through the plurality of control valves K, and the controller A1 is also electrically connected with the plurality of control valves K;

the controller a1 can control the air pump P1 and the plurality of control valves K by electrically connecting the controller a1 with the air pump P1 and the plurality of control valves K in a communication connection mode, for example, the air pump P1 can be controlled to be opened or closed, the air inlet/outlet amount of air in the P1 can be adjusted, one or more control valves can be opened or closed, and the like.

The air pump P1 is connected to the plurality of finger training parts of the rehabilitation training glove G1 via a plurality of control valves K, so that the air pump can pressurize (e.g., pump air, etc.) and depressurize (e.g., pump air, etc.) the corresponding part of the training glove via each control valve. In addition, if the glove part is pressurized and depressurized using liquid, the air pump may be a liquid pump, which is not limited in the present application.

It should be noted that the controller a1 in the present application is a device element having a processing function, which may be one or more integrated circuits capable of implementing the glove exercise rehabilitation training control method in the present application, for example: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general purpose processor, such as a Central Processing Unit (CPU). Or it may also be an electronic device, such as a terminal device, a server, etc., which runs the glove exercise rehabilitation training control method of the present application, and the present application does not limit the specific form of the controller a1, and the user may select the controller according to the actual use requirement.

The air pump P1 is a mechanism for delivering air or pressurizing air, the application does not limit the concrete form of the air pump P1, and the user can flexibly select the air pump according to the pressurizing form, the pressure adjusting range and the like of the training glove G1.

The control valve K is an element capable of opening and closing the valve in response to a command from the controller a1, and the specific form of the control valve K is not limited in the present application. In one possible implementation, the control valve K may also adjust the valve opening degree or the like according to the command of the controller a 1. In another possible implementation, for fine control of each finger training part in the rehabilitation training glove G1, the present application uses a separate control valve K for each finger training part, such as control valve K1, control valve K2, control valve K3, control valve K4, control valve K5, etc. in fig. 2; further, in order to perform finer control of each joint, a plurality of control valves may be provided for each finger training portion. The above are merely examples, and in actual implementation, the specific number of the control valves may be flexibly set according to factors such as use requirements, effects, and cost, which is not limited in the present application. In a possible implementation, for controlling the evacuation of gas in the rehabilitation training glove, a control valve K6 may also be provided for controlling the evacuation of gas in the rehabilitation training glove G1.

The rehabilitation training system can be integrated in a control box or on a rehabilitation training glove, and the specific existing form of the rehabilitation training system is not limited by the application.

In a possible implementation manner, in the determined target hand training action in the preset hand rehabilitation training mode, the target hand training action is an action that needs to be executed by the rehabilitation training glove when the rehabilitation training glove wearer completes the training in the preset hand rehabilitation training mode, and the target hand training action may be, for example, a flexing or extending action of a single finger training part, or a fitting action of a plurality of finger training parts, or may be a glove operation composed of a plurality of the above actions, which is not limited in this application.

In another possible implementation manner, the controller may obtain a training mode selection instruction input by the user, determine a preset hand rehabilitation training mode through the training mode selection instruction, and further determine a target hand training action in the preset hand rehabilitation training mode. In addition, the preset hand rehabilitation training mode may also be a default hand rehabilitation training mode or the like, which is not limited in the present application. The training mode selection instruction input by the user can be realized by the following modes: selecting a training mode on a man-machine interaction display screen connected with a controller through operations such as clicking confirmation and the like; or, the training mode selection instruction is input through a button, a hardware switch and the like provided by the controller, and the specific input mode of the training mode selection instruction is not limited in the present application.

Step 102: and determining the target finger training part corresponding to the target hand training action and the state of a control valve connected with the target finger training part according to the target hand training action.

According to the target hand training action, the target finger training part corresponding to the target hand training action can be determined. Because the target hand training action also comprises the action to be executed by the target finger training part, and in the application, the finger training part completes the corresponding training action by the matching of the air pump and the control valve, the state of the control valve connected with the target finger training part can be determined according to the target hand training action. The state of the control valve connected to the target finger training part may be, for example, open, close, open to a certain degree (preset percentage), and the like, which is not limited in the present application.

Step 103: and controlling the target finger training part to execute the target hand training action according to the state of the control valve connected with the target finger training part.

After determining the state of the control valve to which the target finger training part is connected in step 102, the controller controls the target finger training part to perform the target hand training action.

In summary, an embodiment of the present application provides a glove exercise rehabilitation training control method, which is applied to a controller in a rehabilitation training system, and the rehabilitation training system further includes: the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through a plurality of control valves, and the controller is also electrically connected with the plurality of control valves; when controlling the rehabilitation training glove, firstly determining a target hand training action in a preset hand rehabilitation training mode; determining a target finger training part corresponding to the target hand training action and the state of a control valve connected with the target finger training part according to the target hand training action; and finally, controlling the target finger training part to execute the target hand training action according to the state of the control valve connected with the target finger training part. The user can select the hand rehabilitation training mode according to the needs of the user, the higher and more flexible rehabilitation requirements of the patient are met, the method is more flexible and practical, and more effective and safer hand rehabilitation training is achieved.

Optionally, on the basis of fig. 1, the present application further provides a possible implementation manner of a glove exercise rehabilitation training control method, and fig. 3 is a flowchart of a glove exercise rehabilitation training control method according to another embodiment of the present application; as shown in fig. 3, determining a target hand training motion in a preset hand rehabilitation training mode includes:

step 301: and if the hand rehabilitation training mode is the mirror image hand operation training mode, acquiring the finger action detected by the data glove.

It should be noted that, the mirror image hand exercise rehabilitation training adopts the visual feedback therapy, and the actions of the healthy side hand are obtained to synchronously train the affected side hand, so as to stimulate the brain mirror image neurons, directly improve the symptoms of finger spasm, weakness and the like, indirectly train and reflect the brain nerves and blood vessels, enhance the conservative treatment effect after brain injury or nerve injury, shorten the rehabilitation period after the operation, and finally achieve the aims of enhancing the rehabilitation confidence of the patient, recovering the function of the affected limb and improving the life quality.

In one possible implementation, when the hand rehabilitation training mode is the mirror image hand exercise training mode, the rehabilitation training system further includes: the data glove, the controller and the data glove are in communication connection, so that the controller can detect finger movements of a hand through the data glove. It should be noted that the data glove may be a glove that exists really, that is, the acquisition of data such as movement direction, amplitude, etc. of the glove is realized by adding a sensor on the glove; in addition, the data glove can also be a virtual glove, for example, the activity data of the healthy side hand can be acquired through a camera visual detection mode and the like. It should be further noted that the data glove and the controller may be in communication connection in a wired or wireless manner, so that the controller may acquire data detected by the data glove.

Step 302: and determining the finger action as the target hand training action.

The finger motion detected by the data glove is the target hand training motion, and then the controller can determine the state of the corresponding target finger training part and the control valve connected with the corresponding target finger training part according to the target hand motion.

In the mirror image hand operation training mode that this application provided, the data gloves are dressed to patient's side's hand of being good for, the controller drives the bucking and the extension of rehabilitation training gloves through gathering data gloves finger bending state and control air pump P1 and control valve to reach the rehabilitation training purpose. The mirror image training can map the hand motion mode of the healthy side to the affected side, and the patient stimulates the activity of the cerebral cortex through continuous vision, promotes the brain function to be remolded, and induces the recovery of the hand motion function of the patient.

Optionally, on the basis of fig. 1, the present application further provides a possible implementation manner of a glove exercise rehabilitation training control method, and the determining a target hand training action in a preset hand rehabilitation training mode includes:

and if the hand rehabilitation training mode is the non-mirror image hand operation training mode, according to the hand rehabilitation training mode, determining that a plurality of hand training actions in the action sequence corresponding to the hand rehabilitation training mode are target hand training actions by adopting a preset corresponding relation between the hand rehabilitation training mode and the action sequence.

It should be noted that, when the patient has no active control capability, the hand rehabilitation training mode may also be a non-mirror hand exercise training mode, where the non-mirror hand exercise training mode refers to a mode of performing hand rehabilitation training according to a preset training procedure, that is, a passive control training mode. In the present application, the non-mirror image hand operation training mode may be, for example, a passive hand operation training mode, a back-stretching hand operation training mode, or the like, which is not limited in the present application.

In a possible implementation manner, when the hand rehabilitation training mode is the non-mirror image hand exercise training mode, a preset action sequence (that is, a preset action sequence of the hand exercise corresponding to a specific hand rehabilitation training mode) is used, a correspondence between the preset hand rehabilitation training mode and the action sequence can be obtained, and according to the correspondence, a plurality of hand exercise actions in the action sequence corresponding to the hand rehabilitation training mode are determined to be target hand exercise actions. It should be noted that each hand training motion may include a hand training motion of one finger training part or a plurality of finger training parts, and the present application does not limit the specific hand training motion, specifically, if a certain target hand training motion is a thumb bending motion, the thumb bending motion includes a finger training motion of one finger training part; if a certain target hand training action is to make a fist, the action of making the fist comprises finger training actions of a plurality of finger training parts.

The non-mirror image hand manipulation training mode is beneficial to promoting recovery of muscle strength of affected fingers, increases joint activity and promotes active finger stretching movement.

Optionally, on the basis of the above embodiment, the present application further provides a possible implementation manner of the glove manipulation rehabilitation training control method, where if the hand rehabilitation training mode is a passive hand manipulation training mode, the multiple hand training actions sequentially include: a plurality of hand training actions performed according to a preset time sequence.

In a possible implementation manner, if the hand rehabilitation training mode is the passive hand operation training mode, the controller may control the air pump P1 and adjust the corresponding control valve K to drive the flexion and extension of the target training portion in the rehabilitation training glove one by one according to the preset multiple hand training actions according to the indication of the preset time sequence through multiple preset hand training actions (for example, fist making, index finger making, middle finger making, no finger making, little finger making, thumb bending, index finger bending, middle finger bending, no finger bending, little finger bending, three-finger gripping, five-finger gripping, and the like) of the system, so as to achieve the purpose of rehabilitation training.

In a specific implementation, the hand rehabilitation training mode is a passive hand operation training mode, and the preset multiple hand training actions and execution time sequence are as follows: start-fist making (5 seconds) -thumb bending (5 seconds) -index finger bending (5 seconds) -middle finger bending (5 seconds) -index finger bending (5 seconds) -no-finger bending (5 seconds) -little finger bending (5 seconds) -stop. When the controller is executed, the air pump P1 and the corresponding control valve K are controlled one by one according to the hand training action and the execution time sequence to drive the rehabilitation training glove to complete the action, the rehabilitation training glove is firstly driven to make a fist and kept for 5 seconds, after the completion, the air pump P1 and the corresponding control valve K are adjusted to perform the action of bending the thumb and kept for 5 seconds, and after the completion, the execution is continued according to the flow until the execution is completed. In another specific implementation manner, the execution sequence may further include the execution times, and the like, and may be set in advance by a developer or a user. The foregoing is merely an example, and in actual implementation, other implementation manners may be available, which are not limited in this application.

Optionally, on the basis of the foregoing embodiment, the present application further provides a possible implementation manner of the glove exercise rehabilitation training control method, where if the hand rehabilitation training mode is a back-stretching hand exercise training mode, the multiple hand exercise motions sequentially include: and a plurality of back-extending hand movements, wherein the interval between every two adjacent hand training movements is preset.

It should be noted that for a patient without muscle strength, the early training prohibits the gripping movement and only performs the back stretching movement, so the back stretching hand operation training mode can be adopted for training.

In this application, the back-stretching hand motion is a motion in which the finger training part stretches in the back direction of the hand, and in a specific implementation, the back-stretching hand motion may be, for example, five-finger back stretching, single-finger back stretching, multi-finger back stretching, and the like. In the back-extension hand operation training mode, a plurality of back-extension hand operations (which may be the same operations or different operations) are included, and a preset time length is set between two adjacent operations (the time length may be set by a user, which is not limited in the present application). During interval preset duration between two adjacent actions, can adjust the rehabilitation training gloves through air pump, control valve, make it be in the rest state that the muscle is releived and is relaxed, through the rest of moderate degree, can prolong the training time, strengthen the training effect of back stretching hand training.

In a specific implementation manner, if the hand rehabilitation training mode is a back extension hand motion mode, and the back extension hand motions are all five-finger back extension motions, the controller drives the rehabilitation training glove to do back extension motions by negative pressure by adjusting the air pump P1 and the states of the control valves K1, K2, K3, K4, K5 and K6, and when the back extension motion time reaches a set time, the states of the control valves K1, K2, K3, K4, K5 and K6 are controlled to enable the internal air pressure of the rehabilitation training glove to be in a slightly bent state, so as to help the fingers of the patient to return to a relaxed state, and after the back extension motion time is maintained for the preset time, the states of the control valves K1, K2, K3, K4, K5 and K6 are adjusted, so that the rehabilitation training glove is driven to do back extension motions by negative pressure, and the recovery training purpose is achieved.

In a specific implementation manner, fig. 4 is a back-extension hand rehabilitation training flowchart according to an embodiment of the present application, as shown in fig. 4, when the hand rehabilitation training mode is a back-extension hand action mode, after the controller starts to execute:

firstly, opening a control valve K6 and an air pump P1, wherein K6 is an exhaust control valve of the rehabilitation training glove;

then, according to the sequence and the content of the actions of the back stretching hands, the corresponding control valves are controlled to be closed, and the air pump P1 is used for driving the rehabilitation training gloves to do back stretching movement under negative pressure. For example: stretching the back of the five fingers: control valves K1, K2, K3, K4, K5 were closed. Stretching the thumb back: the control valve K5 is closed. Stretching the index finger back: the control valve K4 is closed. Stretching the middle finger to the back: the control valve K3 is closed. Back extension of ring finger: the control valve K2 is closed. Stretching the back of the little finger: the control valve K1 is closed.

And maintaining the motion of one back-extending hand for a certain time (namely delaying the motion of the back-extending hand), opening the corresponding control valve, and neutralizing or relieving the air pressure in the rehabilitation training glove through the control valve K6 and the positive pressure output by the pump so as to restore the initial micro-bending state of the rehabilitation training glove. For example: stretching the back of the five fingers: control valves K1, K2, K3, K4, K5 were opened. Extending the back of the thumb: control valve K5 is opened. Stretching the index finger back: control valve K4 is opened. Stretching the middle finger to the back: control valve K3 is opened. Back extension of ring finger: control valve K2 is opened. Stretching the back of the little finger: control valve K1 is opened.

After the rest is finished, the corresponding control valve is continuously closed, the rehabilitation training gloves are driven to do the next hand training action through the air pump negative pressure, and the interval between every two adjacent hand training actions is preset.

In another specific implementation, with continued reference to fig. 4, after the back-stretching hand rehabilitation training is finished, the air pump P1 is closed, the control valve K6 is opened, and the control valves K1, K2, K3, K4 and K5 are opened. And then, delaying for 2 seconds to relieve the air pressure in the training gloves so as to restore the initial micro-bending state of the training gloves. Finally, the control valves K1, K2, K3, K4 and K5 are closed.

The foregoing is merely an example, and in actual implementation, other implementation manners may be available, which are not limited in this application.

Alternatively, on the basis of fig. 1, in order to detect the bending variable and the force feedback variation of the finger of the patient by using the grip strength meter or the bending data glove, the device is complicated and needs to additionally add the grip strength sensor and the bending sensor. Fig. 5 is a flowchart of a glove manipulation rehabilitation training control method according to another embodiment of the present disclosure; as shown in fig. 5, an air pressure sensor is connected between the air pump and the plurality of control valves; the method further comprises the following steps:

step 501: and calculating the air pressure variation according to the air pressure value of the air path detected by the air pressure sensor at the first moment and the air pressure value of the air path detected by the air pressure sensor at the second moment.

It should be noted that, an air pressure sensor is connected between the air pump and the plurality of control valves, and the air pressure sensor can sense and measure the air path pressure between the air pump and the plurality of control valves. The specific form of the air pressure sensor is not limited, and the air pressure sensor can be selected and set according to actual use requirements.

In a possible implementation manner, the first time is an initial state time, that is, a state time when the fingers of the target user of the rehabilitation training glove do not apply force, and the air pressure sensor acquires an air pressure value of the air path in this state. And then, the fingers of the target user of the rehabilitation training glove begin to stretch or grasp with force, the detection value of the air pressure sensor changes, another air path pressure value is detected at the second moment, and an air pressure variation can be calculated according to the air path pressure values at the front moment and the back moment.

It should be noted that the second time may be a time after the controller prompts the start of detection for a certain preset time length, or may be a time corresponding to the peak value of the first air path pressure value sensed by the pressure sensor.

In a specific implementation manner, firstly, the controller detects the pressure value of the pressure sensor in real time, and adjusts the air pump and the control valves K1, K2, K3, K4, and K5 by using pulse width modulation (a signal sequence is used for pulse width modulation signals, and the states of the air pump and the control valves can be adjusted by the sequence), so that the internal pressure of the training glove is stabilized in a range of T1(T1 is an initial state pressure, for example, T1 can be set in a range of 3kpa ± 2 kpa), the training glove is in an initial micro-bending state, at this time, the finger of the target user does not apply force, and the posture of the rehabilitation training glove in this state is convenient for the patient to wear. After the wearing is finished (after a certain time interval or a detection starting instruction input by a user is received), the controller detects the value of the pressure sensor in real time and acquires the gas path pressure value detected at the second moment.

The foregoing is merely an example, and in actual implementation, other implementation manners may be available, which are not limited in this application.

Step 502: and calculating the hand rehabilitation degree of the target user in the rehabilitation training glove according to the air pressure variation.

If the pressure value of the airway detected at the second time is P1, the larger the P1 value is, the larger the straightening angle is when the finger of the patient moves in the back-stretching direction. The smaller the value of P1, the greater the degree of flexion when the patient's hand is moving in the flexion direction. Therefore, the hand rehabilitation degree of the target user in the rehabilitation training glove can be evaluated according to the air pressure variation.

In a possible implementation manner, the present application provides an implementation manner for calculating hand recovery according to air pressure variation, and since each different target user has a difference in physical quality, age, and the like, it is difficult to evaluate all target users by establishing only one evaluation system, and the evaluation result obtained in this way is also inaccurate. It should be noted that the rehabilitation training gloves can be worn by the healthy lateral hand and the affected lateral hand at the same time, so that the air path pressure values of the healthy lateral hand and the affected lateral hand during the hand bending and stretching actions can be obtained at the same time; the same rehabilitation training glove can also be worn successively by the side-healthy hand and the affected hand, so that errors possibly generated by different rehabilitation training gloves are reduced, and the application does not limit the errors.

And then calculating the force coefficient when the hand on the affected side bends and/or the force coefficient when the hand on the affected side stretches, and evaluating the hand rehabilitation degree of the target user:

force coefficient of affected hand in bending

Affected side armCoefficient of force of time

It should be noted that the MAX pressure value in the above formula may be a maximum pressure value obtained at a time after the controller prompts the start of detection for a certain preset time period, or may be a first peak value of the gas path pressure value sensed by the pressure sensor.

Generally, Pw is equal to or less than 1, and Ps is equal to or less than 1 (the case that Pw and Ps are greater than 1 is not excluded, but this case often indicates that the capability of the affected hand is better than that of the healthy hand, and at this time, no obstacle exists in the affected hand), the closer the force coefficient Pw when the affected hand bends and the force coefficient Ps when the affected hand stretches are to 1, which indicates that the closer the forces when the affected hand and the healthy hand bend or stretch are, the higher the recovery degree of the affected hand is.

The method needs the participation of the healthy side hand, but at least one group of healthy side hand data can be preset for the target user with injured hands on both sides or the target user with difficulty in acquiring the healthy side hand data, and the hand recovery degree of the affected side hand is evaluated according to the healthy side hand data and the calculation formula. The data of the healthy side hands can be respectively set for users with different heights and body weight ratios, users with different sexes and users with different ages, and therefore the hand rehabilitation degree of the target user can be more accurately evaluated.

In another possible implementation manner, the magnitude of the grip strength of the target user can be evaluated through the air pressure variation, that is, a corresponding relationship between the air pressure variation and the grip strength value is established, and the hand recovery degree of the target user in the rehabilitation training glove is evaluated through the grip strength value. The above is merely an example, and in an actual implementation, there may be other ways to evaluate the hand rehabilitation degree of the target user, which is not limited in the present application.

According to the method and the device, the evaluation on the hand recovery degree of the target user can be realized without additionally adding the grip strength sensor and the bending sensor, and the evaluation method is simple and effective.

Optionally, on the basis of the foregoing embodiment, the present application further provides a possible implementation manner of the glove exercise rehabilitation training control method, where the method further includes:

and calculating the hand movement direction of the target user according to the air pressure variation.

In one possible implementation, if the pressure value of the airway detected at the second time is P1, when the P1 value > T1 value, the patient's finger moves in the dorsal extension direction. When the P1 value < T1 value, the patient's hand is pointing in a flexion direction. Therefore, the movement direction of the patient can be identified according to the air pressure variation.

The control device, the rehabilitation training system, the controller, the storage medium, and the like for executing the rehabilitation training glove provided by the present application are described below, and specific implementation processes and technical effects thereof are referred to above and will not be described again below.

The embodiment of the application provides a possible implementation example of a control device of a rehabilitation training glove, and the control device can execute the glove exercise rehabilitation training control method provided by the embodiment. Fig. 6 is a schematic view of a control device for a rehabilitation training glove according to an embodiment of the present application. As shown in fig. 6, the control device 100 for the rehabilitation training glove includes: an action determining module 61, a target determining module 63, an executing module 65;

the action determining module 61 is used for determining a target hand training action in a preset hand rehabilitation training mode;

the target determining module 63 is configured to determine, according to the target hand training motion, a target finger training portion corresponding to the target hand training motion and a state of a control valve connected to the target finger training portion;

and the execution module 65 is used for controlling the target finger training part to execute the target hand training action according to the state of the control valve connected with the target finger training part.

Optionally, the motion determining module 61 is configured to obtain the finger motion detected by the data glove if the hand rehabilitation training mode is a mirror image hand operation training mode;

and determining the finger action as the target hand training action.

Optionally, if the hand rehabilitation training mode is a non-mirror image hand operation training mode, the action determining module 61 is configured to determine, according to the hand rehabilitation training mode, that a plurality of hand training actions in the action sequence corresponding to the hand rehabilitation training mode are target hand training actions by using a preset correspondence between the hand rehabilitation training mode and the action sequence.

Optionally, the action determining module 61 is configured to, if the hand rehabilitation training mode is the passive hand operation training mode, sequentially include the following hand training actions: a plurality of hand training actions performed according to a preset time sequence.

Optionally, the action determining module 61 is configured to, if the hand rehabilitation training mode is a back-extension hand operation training mode, sequentially include a plurality of hand training actions: and a plurality of back-extending hands act, and the interval between two adjacent hand training actions is preset.

Optionally, the control device 100 for a rehabilitation training glove further includes: the air pressure calculating module and the grip strength calculating module;

the air pressure calculation module is used for calculating air pressure variation according to the air pressure value of the air passage detected by the air pressure sensor at the first moment and the air pressure value of the air passage detected by the air pressure sensor at the second moment;

and the grip strength calculation module is used for calculating the hand rehabilitation degree of the target user in the rehabilitation training glove according to the air pressure variation.

Optionally, the control device 100 for a rehabilitation training glove further includes: a direction identification module;

and the direction identification module is used for calculating the hand movement direction of the target user according to the air pressure variation.

The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.

These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

The embodiment of the application provides a rehabilitation training system, and the rehabilitation training system comprises: the controller is electrically connected with the air pump, the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through the control valves, and the controller is also electrically connected with the control valves; the controller is used for executing the glove exercise rehabilitation training control method provided by the embodiment.

On the basis of the above embodiments, the present application further provides a possible implementation manner of a rehabilitation training system, where the rehabilitation training system further includes: a data glove; the data glove is electrically connected with the controller;

the data glove is used for acquiring hand motion data of a target user in the data glove and sending the hand motion data to the controller.

On the basis of the above embodiments, the present application further provides a possible implementation manner of a rehabilitation training system, where the rehabilitation training system further includes: an air pressure sensor; the air pressure sensor is connected with the air pump air path, and the air pressure sensor is connected with the control valves through the air path; the air pressure sensor is electrically connected with the controller;

the air pressure sensor is used for detecting the air path air pressure value of the air path and sending the detected air path air pressure value to the controller.

The embodiment of the application provides a possible implementation example of a controller, which can execute the glove exercise rehabilitation training control method provided by the embodiment. Fig. 7 is a schematic diagram of a controller provided in an embodiment of the present application, where the controller may be integrated in a terminal device or a chip of the terminal device, and the terminal may be a computing device with a data processing function.

The controller includes: the glove exercise rehabilitation training control method comprises a processor 701, a storage medium 702 and a bus, wherein the storage medium stores program instructions executable by the processor, when the controller runs, the processor and the storage medium are communicated through the bus, and the processor executes the program instructions so as to execute the steps of the glove exercise rehabilitation training control method. The specific implementation and technical effects are similar, and are not described herein again.

The embodiment of the present application provides a possible implementation example of a computer-readable storage medium, which is capable of executing the glove exercise rehabilitation training control method provided in the above embodiment, where the storage medium stores a computer program, and the computer program is executed by a processor to execute the steps of the glove exercise rehabilitation training control method.

A computer program stored in a storage medium may include instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor (which may be a processor) to perform some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A gloving exercises rehabilitation training control method is characterized in that the gloving exercises rehabilitation training control method is applied to a controller in a rehabilitation training system, and the rehabilitation training system further comprises: the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through the control valves, and the controller is also electrically connected with the control valves; the method comprises the following steps:

determining a target hand training action in a preset hand rehabilitation training mode;

according to the target hand training action, determining a target finger training part corresponding to the target hand training action and states of a control valve connected with the target finger training part;

and controlling the target finger training part to execute the target hand training action according to the state of a control valve connected with the target finger training part.

2. The glove manipulation rehabilitation training control method of claim 1, wherein the determining the target hand training action in the preset hand rehabilitation training mode comprises:

if the hand rehabilitation training mode is a mirror image hand operation training mode, acquiring finger actions detected by the data glove;

determining the finger action as the target hand training action.

3. The glove manipulation rehabilitation training control method of claim 1, wherein the determining the target hand training action in the preset hand rehabilitation training mode comprises:

and if the hand rehabilitation training mode is a non-mirror image hand operation training mode, according to the hand rehabilitation training mode, adopting a preset corresponding relation between the hand rehabilitation training mode and the action sequence, and determining that a plurality of hand training actions in the action sequence corresponding to the hand rehabilitation training mode are the target hand training actions.

4. The glove manipulation rehabilitation training control method according to claim 3, wherein if the hand rehabilitation training mode is a passive hand manipulation training mode, the plurality of hand training actions sequentially include: a plurality of hand training actions performed according to a preset time sequence.

5. The glove manipulation rehabilitation training control method according to claim 3, wherein if the hand rehabilitation training mode is a back-extension hand manipulation training mode, the plurality of hand training actions sequentially include: and a plurality of back-extending hand movements, wherein the interval between every two adjacent hand training movements is preset.

6. The glove manipulator rehabilitation training control method according to claim 1, wherein an air pressure sensor is connected between the air pump and the plurality of control valves; the method further comprises the following steps:

calculating air pressure variation according to the air pressure value of the air path detected by the air pressure sensor at the first moment and the air pressure value of the air path detected by the air pressure sensor at the second moment;

and calculating the hand rehabilitation degree of the target user in the rehabilitation training glove according to the air pressure variation.

7. The gloving exercise rehabilitation training control method of claim 6, further comprising:

and calculating the hand movement direction of the target user according to the air pressure variation.

8. A rehabilitation training system, comprising: the controller is electrically connected with the air pump, the air pump is connected with a plurality of finger training part air paths in the rehabilitation training gloves through the control valves, and the controller is also electrically connected with the control valves; the controller is configured to perform the steps of the glove exercise rehabilitation training control method according to any one of claims 1 to 7.

9. The rehabilitation training system of claim 8, further comprising: a data glove; the data glove is electrically connected with the controller;

the data glove is used for acquiring hand motion data of a target user in the data glove and sending the hand motion data to the controller.

10. The rehabilitation training system of claim 8, further comprising: an air pressure sensor; the air pressure sensor is connected with the air pump air path, and the air pressure sensor is connected with the control valves through the air path; the air pressure sensor is electrically connected with the controller;

the air pressure sensor is used for detecting the air circuit air pressure value of the air circuit and sending the detected air circuit air pressure value to the controller.

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