CN115844683A - Multi-channel finger training rehabilitation device - Google Patents

Abstract

The invention relates to a multi-channel finger training rehabilitation device, and belongs to the field of hand function rehabilitation. The system comprises an active end module, a data processing module, a wireless communication module, a core control module, a passive end module and an LCD finger bending degree display module which are connected in sequence; the active end module is used for acquiring a voltage change signal when each finger bends or stretches; the data processing module is used for generating an inflation instruction, a deflation instruction or an angle display instruction according to the voltage change signal; the wireless communication module is used for transmitting the voltage change signal, the inflation instruction, the deflation instruction or the angle display instruction to the core control module; the core control module is used for controlling the inflation or deflation of the driven end module according to the inflation instruction or the deflation instruction, and controlling the LCD finger bending degree display module to display the finger bending degree according to the angle display instruction. The invention improves the rehabilitation efficiency of the affected hand.

Description

Multi-channel finger training rehabilitation device

Technical Field

The invention relates to the field of hand function rehabilitation, in particular to a multi-channel finger training rehabilitation device.

Background

Nowadays, in addition to skeletal muscular system injuries, there are more and more potential factors that cause hand dysfunction, such as: nervous system diseases such as cerebral apoplexy, parkinson disease, high spinal cord injury, etc., rheumatoid arthritis, coronary heart disease, chronic obstructive pulmonary disease, systemic sclerosis, cancer, tumor, and functional disorder of hands and upper limbs caused by operation. With the increasing demand of people for daily life quality, the attention on hand and upper limb functional performance is increasing. Therefore, the functional disorder of the hand is not negligible, and the recovery of the hand function is indispensable.

All pneumatic finger training rehabilitation instruments on the market at present are divided into a driving end and a driven end. The driving end glove can accurately acquire finger motion information and control the driven glove to assist the affected hand to complete the same action; the driven end glove adopts a pneumatic mode to operate, and the air pump is used for inflating and deflating to simulate the motion mode of the hand of a human body. The glove can help patients to improve symptoms such as hand spasm, paralysis, etc., and can also promote recovery of brain nerves and blood vessels. But the rehabilitation gloves on the market at present have the following defects:

the low-cost rehabilitation gloves can only realize the grabbing and holding of the whole gloves, a switch needs to be manually pressed, and the mirror image function is not realized. Although the basic mirror image function of the gloves with moderate price can be realized, each finger cannot be controlled differently, and only two motion states of grabbing and holding are provided. In addition, the existing finger rehabilitation training instruments have no functions of prognosis evaluation and treatment feedback, are limited in application scenes, and cannot form a complete clinical treatment system.

In conclusion, the existing finger rehabilitation training instrument can only realize the gripping of the whole glove, cannot control each finger in a distinguishing way, and has no pertinence, so that the rehabilitation efficiency is low.

Disclosure of Invention

The invention aims to provide a multi-channel finger training rehabilitation device, which solves the problem that the finger training rehabilitation instrument in the prior art has no pertinence on the rehabilitation training of the affected hand, so that the rehabilitation efficiency is low.

In order to achieve the purpose, the invention provides the following scheme:

a multi-channel finger training rehabilitation device comprises a driving end module, a data processing module, a wireless communication module, a core control module, a driven end module and an LCD finger bending degree display module which are connected in sequence;

the active end module is used for acquiring a voltage change signal when each finger bends or stretches; the voltage change signals comprise a thumb voltage change signal, an index finger voltage change signal, a middle finger voltage change signal, a ring finger voltage change signal and a little finger voltage change signal;

the data processing module is used for generating an inflation instruction, a deflation instruction or an angle display instruction according to the voltage change signal; the inflation instruction comprises a thumb inflation instruction, a forefinger inflation instruction, a middle finger inflation instruction, a ring finger inflation instruction and a little finger inflation instruction; the deflation instruction comprises a thumb deflation instruction, a forefinger deflation instruction, a middle finger deflation instruction, a ring finger deflation instruction and a little finger deflation instruction; the angle display instruction comprises a thumb angle display instruction, an index finger angle display instruction, a middle finger angle display instruction, a ring finger angle display instruction and a little finger angle display instruction;

the wireless communication module is used for transmitting the voltage change signal, the inflation instruction, the deflation instruction or the angle display instruction to the core control module;

the core control module is used for controlling the inflation or deflation of the driven end module according to the inflation instruction or the deflation instruction; and the LCD finger bending degree display module is also used for controlling the finger bending degree display module to display the finger bending degree according to the angle display instruction.

Optionally, the active end module includes an active end glove, 5 strain gauge sensors, and 5 voltage amplification units;

the active end glove is worn on a healthy hand of a patient, and each finger sleeve of the active end glove is internally provided with one strain gauge sensor; the strain gauge sensor is connected with the voltage amplifying unit; the voltage amplifying unit is used for amplifying the variable voltage generated by the resistance value change of the strain gauge sensor when the finger is bent or stretched to obtain the voltage change signal; the voltage amplifying unit is connected with the data processing module.

Optionally, the data processing module includes 5 ADC acquisition channels, a data storage unit, a comparison unit, a bending degree determination unit, and an instruction generation unit;

the ADC acquisition channel is connected with the active terminal module and is used for performing analog-to-digital conversion on the voltage change signal to form a voltage change value;

the data storage unit is connected with the ADC acquisition channel and is used for storing the voltage change value;

the comparison unit is connected with the ADC acquisition channel and is used for comparing the state value of the affected hand with the voltage change value;

the bending degree determining unit is connected with the ADC acquisition channel and is used for comparing the voltage change signal value with a preset bending angle range to determine the bending degree of the finger;

the instruction generating unit is respectively connected with the comparing unit and the bending degree determining unit, and is used for generating the inflation instruction or the deflation instruction according to the comparison result and generating the angle display instruction according to the bending degree of the fingers.

Optionally, the wireless communication module comprises a first bluetooth and a second bluetooth; the first Bluetooth is connected with the data processing module; the second Bluetooth is connected with the core control module; the data processing module and the core control module realize signal transmission through the first Bluetooth and the second Bluetooth.

Optionally, the core control module comprises 5 inflation control ports, 5 inspiration control ports, and an angle output port; the driven end module comprises an inflation unit, an air suction unit, driven end gloves, 5Y-shaped three-way joints and 5 air bags;

if the instruction received by the core control module is the inflation instruction, the inflation control port outputs a high level, and the inspiration control port outputs a low level;

if the instruction received by the core control module is the inspiration instruction, the inflation control port outputs a low level, and the inspiration control port outputs a high level;

if the instruction received by the core control module is the angle display instruction, the angle output port outputs the finger bending degree;

the driven end glove is worn on the affected hand of a patient, and an air bag is arranged in each finger stall of the driven end glove; the inflation unit and the suction unit are respectively connected with two input ports of the Y-shaped three-way joint, and the air bag is connected with an output port of the Y-shaped three-way joint; the inflation unit is connected with the inflation control port; the air suction unit is connected with the air suction control port; and the LCD finger bending degree display module is connected with the angle output port.

Optionally, the inflation unit comprises 5 first MOS tubes, 5 first two-way valves, and an inflation tank; one end of the first MOS tube is connected with the inflation control port; the other end of the first MOS tube is connected with the first end of the first two-way valve; the second end of the first two-way valve is connected with the inflation tank; and the third end of the first two-way valve is connected with one input port of the Y-shaped three-way joint.

Optionally, the air suction unit comprises 5 second MOS tubes, 5 second two-way valves and an air suction tank; one end of the second MOS tube is connected with the air suction control port; the other end of the second MOS tube is connected with the first end of the second two-way valve; the second end of the second two-way valve is connected with the suction tank; and the third end of the second two-way valve is connected with the other input port of the Y-shaped three-way joint.

Optionally, a power supply module is further included; the power module comprises a first storage battery, a second storage battery and a voltage reduction unit;

the first storage battery is connected with the data processing unit; the second storage battery is respectively connected with the voltage reduction unit and the driven end module; the voltage reduction unit is connected with the core control unit.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

the multi-channel finger training rehabilitation device provided by the invention has the advantages that the voltage change signals of each finger of a healthy hand are collected through the active end module, and the voltage change signals comprise a thumb voltage change signal, a forefinger voltage change signal, a middle finger voltage change signal, a ring finger voltage change signal and a little finger voltage change signal; comparing the voltage change signal with a state value of the affected hand through a data processing module, and generating an inflation instruction, a deflation instruction or an angle display instruction, wherein the inflation instruction comprises a thumb inflation instruction, a forefinger inflation instruction, a middle finger inflation instruction, a ring finger inflation instruction and a little finger inflation instruction; the deflation instruction comprises a thumb deflation instruction, a forefinger deflation instruction, a middle finger deflation instruction, a ring finger deflation instruction and a little finger deflation instruction; the angle display instruction comprises a thumb angle display instruction, an index finger angle display instruction, a middle finger angle display instruction, a ring finger angle display instruction and a little finger angle display instruction; and the core control module controls the inflation and deflation of the driven end module according to the inflation instruction or the deflation instruction, and controls the LCD finger bending degree display module to display the finger bending degree according to the angle display instruction. The invention can control each finger of the hand at the affected side by correspondingly controlling the finger of the hand at the affected side by respectively collecting the voltage change signal of each finger of the healthy hand, can control each finger differently and display the bending degree of the finger, can train the finger of the hand at the affected side in a targeted manner, and improves the rehabilitation efficiency of the hand at the affected side.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a block diagram of a multi-channel finger training rehabilitation device provided by the present invention;

FIG. 2 is a block diagram of an active end portion of a multi-channel finger training rehabilitation device provided by the present invention in an embodiment;

fig. 3 is a block diagram of a driven end portion of a multichannel finger training rehabilitation device provided by the present invention in an embodiment.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a multi-channel finger training rehabilitation device, which aims to solve the problem that the finger training rehabilitation instrument in the prior art has no pertinence on the rehabilitation training of the affected hand, so that the rehabilitation efficiency is low.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Fig. 1 is a structural diagram of a multi-channel finger training rehabilitation device provided by the invention, and as shown in fig. 1, the multi-channel finger training rehabilitation device comprises an active end module, a data processing module, a wireless communication module, a core control module, a passive end module and an LCD finger bending degree display module which are sequentially connected.

The active end module is used for acquiring a voltage change signal when each finger bends or stretches; the voltage change signals comprise thumb voltage change signals, index finger voltage change signals, middle finger voltage change signals, ring finger voltage change signals and little finger voltage change signals.

Further, the active end module comprises an active end glove, 5 strain gauge sensors and 5 voltage amplification units. In practical application, the driving end glove does not need to distinguish the left hand from the right hand, namely when the affected side hand is the right hand, the left hand of the patient can be selected to wear the driving end glove, the right hand of the doctor can also be selected to wear the driving end glove, autonomous rehabilitation training can be achieved, and rehabilitation training can also be assisted by the doctor.

The active end glove is worn on a healthy hand of a patient, and each finger sleeve of the active end glove is internally provided with one strain gauge sensor; the strain gauge sensor is connected with the voltage amplifying unit; the voltage amplifying unit is used for amplifying the variable voltage generated by the resistance value change of the strain gauge sensor when the finger is bent or stretched to obtain the voltage change signal; the voltage amplifying unit is connected with the data processing module. The working principle of the strain gauge sensor is based on the resistance strain effect, namely, when a conductor or a semiconductor material generates mechanical deformation under the action of external force, the resistance value of the conductor or the semiconductor material correspondingly changes, and the phenomenon is called as the strain effect. The strain gauge sensor is adhered to the finger joint of the driving end glove to collect finger joint bending signals, and the resistance value of the strain gauge sensor changes correspondingly when the finger joint bends.

In practical application, the strain gauge sensor is arranged at the finger joint of the active end glove, when a finger is bent or stretched, the strain gauge sensor generates a bending degree signal (change voltage) through a resistance strain effect, and the voltage change signal is transmitted to the data processing module after the change voltage is amplified by the voltage amplifying unit. The voltage amplifying means can amplify a minute variation voltage generated by a resistance variation due to a bending of the strain gauge sensor. The voltage amplifying unit is provided with two input ends and an output end, the two input ends are connected with the strain gauge sensor, the output end is connected with the corresponding ADC acquisition channel of the data processing module, and the data processing module can read the voltage change signal.

The data processing module is used for acquiring the voltage change signal and generating an inflation instruction, a deflation instruction or an angle display instruction according to the voltage change signal; the inflation instruction comprises a thumb inflation instruction, a forefinger inflation instruction, a middle finger inflation instruction, a ring finger inflation instruction and a little finger inflation instruction; the deflation instruction comprises a thumb deflation instruction, a forefinger deflation instruction, a middle finger deflation instruction, a ring finger deflation instruction and a little finger deflation instruction; the angle display instruction comprises a thumb angle display instruction, a forefinger angle display instruction, a middle finger angle display instruction, a ring finger angle display instruction and a little finger angle display instruction.

Further, the data processing module comprises 5 ADC acquisition channels, a data storage unit, a comparison unit, a bending degree determination unit and an instruction generation unit. In practical application, the data processing module adopts an STM32F103 chip and is responsible for identifying and analyzing the finger bending degree signal acquired by the bending degree acquisition module (the driving end module), and transmitting the processed signal to the core control module to control the rehabilitation glove end (the driven end module).

The ADC acquisition channel is connected with the voltage amplification unit and used for carrying out analog-to-digital conversion on the voltage change signal to form a voltage change value. In practical applications, in order to achieve high efficiency and accuracy of program execution, the ADC acquisition program code is run in a tick timer interrupt (SysTick _ Handler) function of the STM32F103 chip. The interrupt function is an interrupt function taking 1ms as a time reference, namely, the interrupt function is operated once every 1ms, so that the effect of rapidly acquiring the change voltage of a strain gauge sensor at the finger joint is achieved.

Since the invention needs to use one ADC to acquire the varying voltage generated by different degrees of bending of multiple strain gauge sensors, single-channel acquisition by the ADC cannot meet the requirements of the invention. Therefore, the invention uses the ADC multichannel acquisition method to achieve the purpose of acquiring the variable voltage generated by different bending degrees of a plurality of strain gauge sensors.

The data storage unit is connected with the ADC acquisition channel and used for storing the voltage change value.

The comparison unit is connected with the ADC acquisition channel and used for comparing the state value of the hand at the affected side with the voltage change value.

The bending degree determining unit is connected with the ADC collecting channel and used for comparing the voltage change signal value with a preset bending angle range to determine the bending degree of the finger.

The instruction generating unit is respectively connected with the comparing unit and the bending degree determining unit, and is used for generating the inflation instruction or the deflation instruction according to the comparison result and generating the angle display instruction according to the bending degree of the fingers. In practical application, the instruction generating unit further generates a closing instruction, that is, when the state value is stable near the collected value, the closing instruction is generated, and all the two-way valves are closed.

As shown in fig. 2, strain gauge sensors are attached to the knuckles of five fingers (i.e., finger 1, finger 2, finger 3, finger 4, and finger 5) of the active end glove, and five pins A5, A6, A7, B0, and B1 of the STM32F103 chip are set as five ADC acquisition channel pins, so as to implement an ADC acquisition function, acquire voltage change signals output by a voltage amplification unit corresponding to the strain gauge sensors, and thus acquire signals of the degree of bending of the fingers. And simultaneously setting two pins A9 and A10 of the STM32F103 chip as serial port pins to communicate with an HC-05 Bluetooth module (first Bluetooth). The STM32F103 chip is mounted on an STM32F103C8T6 minimal system board. Wherein the active end glove and the voltage amplifying unit are not shown in fig. 2.

The wireless communication module is used for transmitting the voltage change signal, the inflation instruction, the deflation instruction or the angle display instruction to the core control module.

Further, the wireless communication module comprises a first Bluetooth and a second Bluetooth; one end of the first Bluetooth is connected with the data processing module; the other end of the second Bluetooth is connected with the core control module. In practical application, the wireless transmission comprises communication between the STM32F103 chip and a first Bluetooth, communication between two Bluetooth chips and communication between a second Bluetooth chip and the core control module, and the two Bluetooth chips are responsible for transmitting an instruction sent by the STM32F103 chip to the core control module.

In practical application, two HC-05 Bluetooth modules are applied in the wireless transmission module to realize the transmission and reception of data. The HC-05 Bluetooth module (first Bluetooth) for sending is connected with the STM32F103 chip, the HC-05 Bluetooth module (second Bluetooth) for receiving is connected with the STM32F407 chip, and the baud rates of the two are set to be 115200. When the two HC-05 Bluetooth modules are successfully paired and connected, the communication protocol in the HC-05 Bluetooth module is ignored, and the HC-05 Bluetooth module is directly used as a serial port. When the connection is established, the two HC-05 Bluetooth modules share the same channel, namely the same serial port, one HC-05 Bluetooth module (the first Bluetooth) sends data to the channel, and the other HC-05 Bluetooth module (the second Bluetooth) can receive the data in the channel.

The core control module is used for controlling the inflation or deflation of the driven end module according to the inflation instruction or the deflation instruction; and the LCD finger bending degree display module is also used for controlling the finger bending degree display module to display the finger bending degree according to the angle display instruction. In practical application, the core control module is an STM32F407 chip, and the two-way valve is controlled to be opened and closed according to a received instruction so as to control inflation and deflation of fingers.

Further, the core control module includes 5 inflation control ports, 5 inspiration control ports, and an angle output port.

If the instruction received by the core control module is the inflation instruction, the inflation control port outputs a high level, and the inspiration control port outputs a low level.

If the instruction received by the core control module is the air suction instruction, the inflation control port outputs a low level, and the air suction control port outputs a high level.

And if the instruction received by the core control module is the angle display instruction, the angle output port outputs the finger bending degree.

As shown in fig. 3, two pins A2 and A3 of the STM32F407 chip are serial pins and are in communication with the HC-05 bluetooth module (second bluetooth); ten pins C0-C9 of the STM32F407 chip are set as output pins, and the MOS tube is controlled to be switched on and off by outputting high and low levels; wherein pins C0-C4 are 5 inflation control ports and pins C5-C9 are 5 inspiration control ports. And simultaneously, setting the FSMC corresponding pin to realize the display function of the LCD display screen. The STM32F407 chip is arranged on an STM32F407ZGT6 minimum system board.

The driven end module comprises an inflation unit, an air suction unit, driven end gloves, 5Y-shaped tee joints and 5 air bags (an air bag 1, an air bag 2, an air bag 3, an air bag 4 and an air bag 5). Wherein the Y-tee is not shown in the figure.

The driven end glove is worn on the affected side hand of a patient, and an air bag is arranged in each finger stall of the driven end glove; the inflation unit and the air suction unit are respectively connected with two input ports of the Y-shaped three-way joint, and the air bag is connected with an output port of the Y-shaped three-way joint; the inflation unit is connected with the inflation control port; the air suction unit is connected with the air suction control end; and the LCD finger bending degree display module is connected with the angle output port.

The inflation unit comprises 5 first MOS tubes, 5 first two-way valves and an inflation tank; one end of the first MOS tube is connected with the inflation control port; the other end of the first MOS tube is connected with the first end of the first two-way valve; the second end of the first two-way valve is connected with the inflation tank; and the third end of the first two-way valve is connected with one input port of the Y-shaped three-way joint.

The air suction unit comprises 5 second MOS tubes, 5 second two-way valves and an air suction tank; one end of the second MOS tube is connected with the air suction control port; the other end of the second MOS tube is connected with the first end of the second two-way valve; the second end of the second two-way valve is connected with the suction tank; and the third end of the second two-way valve is connected with the other input port of the Y-shaped three-way joint.

The MOS tube is used for a switching circuit, and when the negative electrode of a signal is in long-time connection, high level triggering is carried out. When the MOS tube is not triggered, the input power supply end is conducted with the anode of the controlled equipment end, and the cathode is not conducted; after being triggered, the anode and the cathode are both conducted, so that the function of switching is realized. The signal cathode of the MOS tube is grounded, the control end of the signal anode is respectively connected with different pins of the STM32F407 chip, and the on-off state of the MOS tube is controlled through the difference of the output levels of the pins, so that the on-off of the two-way valve is controlled.

The finger inflation and deflation control module (driven end module) is controlled by an STM32F407 chip, and the inflation and deflation degree of each finger is controlled by controlling the opening and closing of the two-way valve, so that the affected side glove (driven end glove) can simulate the action of a healthy hand in a mirror image manner.

The STM32F407 chip causes the ten pins C0-C9 to output a high level or a low level according to the received instruction. At high level, the MOS tubes (the first MOS tube and the second MOS tube) are conducted, so that the corresponding two-way valve is communicated with the circuit, the two-way valve is opened, the air flow flows, and the inflation or deflation of the driven end glove is realized.

As shown in fig. 3, the LCD finger bending degree display module is controlled by the STM32F407 chip and is responsible for displaying the finger bending angle of the active end finger, i.e., the healthy hand, on the LCD display screen (LCD finger bending degree display module). After a patient receives a certain rehabilitation treatment, the patient can take the driving end glove and bend fingers independently, and the independent bending angle of the patient can be displayed on the LCD display screen, so that the information of the rehabilitation level of the patient is provided for a clinician, and the method is helpful for the physician to carry out prognosis evaluation on the patient and formulate a further treatment scheme.

In one embodiment, the multi-channel finger training rehabilitation device of the present invention further comprises a power module; the power module comprises a first storage battery, a second storage battery and a voltage reduction unit; the first storage battery is connected with the data processing unit; the second storage battery is respectively connected with the voltage reduction unit and the driven end module; the voltage reduction unit is connected with the core control unit.

As shown in fig. 2, the 3.3V battery in fig. 2 is a first battery, the 12V battery in fig. 3 is a second battery, and the 10V-8V to 5V buck module is a buck unit.

The specific working principle of the multi-channel finger and finger training rehabilitation device is as follows:

the active end module is worn on a healthy hand of a patient, when the healthy hand is bent or stretched, the strain gauge sensor generates a change voltage, and the voltage amplification unit amplifies the change voltage to obtain a voltage change signal. In order to follow the movement of the healthy hand, a state value may be given to the affected hand in the program of the STM32F103 chip, and the initial state value of the affected hand needs to be equal to the ADC acquisition value (voltage change signal) of the corresponding initial movement. After ADC acquisition is realized, an ADC acquisition value when the palm is in a normal straight state is obtained, the value is set as an initial value of the state of the affected hand and is written into the SD card, and the initial value is stored by the data storage unit. .

Through judging the size of the state value of the affected hand and the ADC acquisition value in the STM32F103 chip, the value corresponding to the finger strain gauge sensor acquired by the ADC changes, and the larger the bending degree of the finger is, the smaller the value acquired by the ADC is. When the healthy finger is bent, the state value of the hand at the affected side is larger than the acquired value, the state value needs to be reduced, and an inflation instruction (a two-way valve opening signal of the inflation unit and a two-way valve closing signal of the suction unit) is sent to the STM32F407 chip, so that the STM32F407 chip controls the opening of the two-way valve of the inflation unit and the closing of the two-way valve of the suction unit, and the hand value at the affected side is bent; when the healthy palm is unfolded, the state value of the affected hand is smaller than the acquired value, the state value needs to be increased, and a deflation instruction (an air suction unit two-way valve opening signal and an air inflation unit two-way valve closing signal) is sent to the STM32F407 chip, so that the STM32F407 chip controls the opening of the two-way valve of the air suction unit and the closing of the two-way valve of the air inflation unit, and the affected hand is unfolded; and the corresponding state value in the STM32F103 chip is close to the acquisition value, when the state value is stable near the acquisition value, a closing instruction is sent to the STM32F407 chip, ten pins C0-C9 of the STM32F407 chip output low levels, and the two-way valve of the air suction unit and the two-way valve of the air inflation unit are both closed, so that the hand on the affected side can stably keep the same action as a healthy hand. Therefore, the invention realizes the following movement of the affected side finger.

To further meet the rehabilitation requirements of patients, the approximate angles of the different fingers currently bending are displayed on the LCD display screen. Because the strain gauge sensor is bent in different degrees, corresponding ADC acquisition values are different, the change voltage corresponding to the strain gauge sensor when the finger is stretched excessively, straightened normally, bent by 45 degrees, bent by 90 degrees and bent by 110 degrees is acquired at first, two adjacent values form an interval, and when a healthy hand moves, I only needs to judge the size of the ADC acquisition value and the boundary of the interval and classify the ADC acquisition value and the boundary into the corresponding interval, so that the bending angle range of the finger is judged.

In the invention, in order to obtain the bending degree of the fingers more intuitively and accurately, the palm and the corresponding finger joints are displayed on the LCD display screen, and the bending degree of the finger joints is expressed by using different colors.

And displaying the palm on the LCD display screen, opening the selected palm picture and modifying related configuration parameters in the software by using Img2LCD modulus-taking software to generate a corresponding array, placing the corresponding array in an engineering file of an STM32F407 chip, and realizing the display of the palm on the LCD display screen by writing a picture drawing function.

The positions of the finger joints are shown by drawing circles on the fingers. And respectively finding out corresponding coordinates of each joint of the finger on the LCD display screen, and drawing a circle at each coordinate by using the written circle drawing function, namely representing the circle as the joint of the finger.

After the angle judgment is carried out, the angle range of the finger bending is obtained, a function for displaying colors on an LCD display screen is called, corresponding colors are displayed at different finger joints to display the bending degree of each finger, and four different colors can be displayed due to the fact that the four different ranges exist.

The multi-channel finger training rehabilitation device has the following advantages:

(1) The mirror image follow motion of each finger of ability accurate control enables to suffer from the side hand and keeps the same action with healthy hand, more helps improving patient's hand dysfunction.

(2) The active end glove can distinguish a left hand from a right hand, can be applied to different application scenes, and is suitable for a rehabilitation teacher to assist patient treatment and patient autonomous treatment. When a rehabilitation teacher assists a patient to treat, the driving end glove on the same side as the affected hand of the patient is selected, so that mirror image following control is facilitated; when the patient is treated autonomously, the active end glove on the different side of the affected hand is selected, and the healthy hand wears the active end glove to control the motion of the affected hand.

(3) Has the function of prognosis evaluation. The multi-channel finger training rehabilitation device is provided with an LCD display screen and used for displaying the bending degree of healthy fingers, can evaluate the rehabilitation degree of the affected hand and is beneficial to further carrying out rehabilitation treatment by clinicians. After the patient is treated for a period of time, the patient can wear the healthy side glove to bend the finger autonomously, so that the angle range of the autonomous bending of the patient can be displayed on the LCD screen, and the method is helpful for a clinician to evaluate the rehabilitation level of the patient and make a further rehabilitation treatment plan.

Compared with the prior art, the invention can realize the multichannel hand signal accurate acquisition of the driving glove, realize the hand following by transmitting signals in a wireless connection mode and drive the driven glove to finish the mirror image action. And different modes can be selected according to different scenes, namely a patient control mode of a rehabilitation teacher and a patient self-control mode, so that the traditional rehabilitation training mode is eliminated.

In addition, an LCD display screen is connected, the bending angle range of the hand part can be dynamically displayed, and therefore the motion information of the affected hand is obtained so as to facilitate the evaluation of the prognosis curative effect. After the patient receives treatment for a period of time, the patient wears the active end glove and independently bends the fingers, and the independent bending angle of the active end glove and the fingers is displayed on the LCD display screen, so that the clinician can judge the rehabilitation degree of the patient's hand and make a further rehabilitation treatment scheme.

As above, the device overcomes the problem that the rehabilitation gloves on the market can realize the basic mirror function, but can not control each finger in a distinguishing way and only have two motion states of grabbing and holding. In addition, the device overcomes the defects of limited application scenes, incomplete clinical evaluation function and the like, and has the advantages of low cost, various application modes and prognosis evaluation function and can be completely used for clinical evaluation.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.

Claims (8)

1. A multi-channel finger training rehabilitation device is characterized by comprising an active end module, a data processing module, a wireless communication module, a core control module, an active end module and an LCD finger bending degree display module;

the active end module is used for acquiring a voltage change signal when each finger bends or stretches; the voltage change signals comprise a thumb voltage change signal, an index finger voltage change signal, a middle finger voltage change signal, a ring finger voltage change signal and a little finger voltage change signal;

the data processing module is used for generating an inflation instruction, a deflation instruction or an angle display instruction according to the voltage change signal; the inflation instruction comprises a thumb inflation instruction, a forefinger inflation instruction, a middle finger inflation instruction, a ring finger inflation instruction and a little finger inflation instruction; the deflation instruction comprises a thumb deflation instruction, a forefinger deflation instruction, a middle finger deflation instruction, a ring finger deflation instruction and a little finger deflation instruction; the angle display instruction comprises a thumb angle display instruction, an index finger angle display instruction, a middle finger angle display instruction, a ring finger angle display instruction and a little finger angle display instruction;

the wireless communication module is used for transmitting the voltage change signal, the inflation instruction, the deflation instruction or the angle display instruction to the core control module;

the core control module is used for controlling the inflation or deflation of the driven end module according to the inflation instruction or the deflation instruction; and the LCD finger bending degree display module is also used for controlling the finger bending degree display module to display the finger bending degree according to the angle display instruction.

2. The multi-channel finger training rehabilitation device according to claim 1, wherein the active end module comprises an active end glove, 5 strain gauge sensors and 5 voltage amplification units;

the active end glove is worn on a healthy hand of a patient, and each finger sleeve of the active end glove is internally provided with one strain gauge sensor; the strain gauge sensor is connected with the voltage amplifying unit; the voltage amplifying unit is used for amplifying the variable voltage generated by the resistance value change of the strain gauge sensor when the finger is bent or stretched to obtain the voltage change signal; the voltage amplifying unit is connected with the data processing module.

3. The multi-channel finger training rehabilitation device according to claim 1, wherein the data processing module comprises 5 ADC acquisition channels, a data storage unit, a comparison unit, a bending degree determination unit and a command generation unit;

the ADC acquisition channel is connected with the active terminal module and is used for carrying out analog-to-digital conversion on the voltage change signal to form a voltage change value;

the data storage unit is connected with the ADC acquisition channel and is used for storing the voltage change value;

the comparison unit is connected with the ADC acquisition channel and is used for comparing the state value of the affected hand with the voltage change value;

the bending degree determining unit is connected with the ADC acquisition channel and is used for comparing the voltage change signal value with a preset bending angle range to determine the bending degree of the finger;

the instruction generating unit is respectively connected with the comparing unit and the bending degree determining unit, and is used for generating the inflation instruction or the deflation instruction according to the comparison result and generating the angle display instruction according to the bending degree of the fingers.

4. The multi-channel finger training rehabilitation device according to claim 1, wherein the wireless communication module includes a first bluetooth and a second bluetooth; the first Bluetooth is connected with the data processing module; the second Bluetooth is connected with the core control module; the data processing module and the core control module realize signal transmission through the first Bluetooth and the second Bluetooth.

5. The multi-channel finger training rehabilitation device according to claim 1, wherein the core control module includes 5 inflation control ports, 5 inspiration control ports and an angle output port; the driven end module comprises an inflation unit, an air suction unit, driven end gloves, 5Y-shaped three-way joints and 5 air bags;

if the instruction received by the core control module is the inflation instruction, the inflation control port outputs a high level, and the inspiration control port outputs a low level;

if the instruction received by the core control module is the inspiration instruction, the inflation control port outputs a low level, and the inspiration control port outputs a high level;

if the instruction received by the core control module is the angle display instruction, the angle output port outputs the finger bending degree;

the driven end glove is worn on the affected hand of a patient, and an air bag is arranged in each finger stall of the driven end glove; the inflation unit and the suction unit are respectively connected with two input ports of the Y-shaped three-way joint, and the air bag is connected with an output port of the Y-shaped three-way joint; the inflation unit is connected with the inflation control port; the air suction unit is connected with the air suction control port; and the LCD finger bending degree display module is connected with the angle output port.

6. The multi-channel finger training rehabilitation device according to claim 5, wherein the inflation unit comprises 5 first MOS tubes, 5 first two-way valves and an inflation tank; one end of the first MOS tube is connected with the inflation control port; the other end of the first MOS tube is connected with the first end of the first two-way valve; the second end of the first two-way valve is connected with the inflation tank; and the third end of the first two-way valve is connected with one input port of the Y-shaped three-way joint.

7. The multi-channel finger training rehabilitation device according to claim 5, wherein the air suction unit comprises 5 second MOS tubes, 5 second two-way valves and an air suction tank; one end of the second MOS tube is connected with the air suction control port; the other end of the second MOS tube is connected with the first end of the second two-way valve; the second end of the second two-way valve is connected with the suction tank; and the third end of the second two-way valve is connected with the other input port of the Y-shaped three-way joint.

8. The multi-channel finger training rehabilitation device according to claim 1, further comprising a power module; the power module comprises a first storage battery, a second storage battery and a voltage reduction unit;

the first storage battery is connected with the data processing unit; the second storage battery is respectively connected with the voltage reduction unit and the driven end module; the voltage reduction unit is connected with the core control unit.

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