CN118001096A - Flexible hand function rehabilitation training and evaluation equipment based on pneumatic flexible pipe - Google Patents

Abstract

The invention relates to the field of hand medical rehabilitation, in particular to a flexible hand function rehabilitation training and evaluating device based on a pneumatic telescopic tube. Comprises a control box, auxiliary gloves, main gloves, mirror gloves and grip balls; the control box comprises a box body, a panel assembly and a connecting assembly which are arranged on the surface of the box body, and a main control module and an inflation assembly which are arranged in the box body; the input end of the main control module is electrically connected with the output end of the panel assembly, and the output end of the main control module is connected with the inflation assembly; the inflatable component is respectively connected with the main glove, the auxiliary glove, the mirror glove and the grip ball through the connecting component. Through the cooperation of auxiliary glove, main glove, mirror image glove and grip ball, make it on realizing initiative, passive, helping hand, anti-drag, mirror image, brain accuse or the integrated basis of initiative recreation mode training and motion evaluation function, the patient can select auxiliary glove to carry out rehabilitation rough exercise training or select main glove to carry out rehabilitation meticulous exercise training according to the demand, and the flexibility is higher, and reduces medical resource waste.

Description

Flexible hand function rehabilitation training and evaluation equipment based on pneumatic flexible pipe

Technical Field

The invention relates to the field of hand medical rehabilitation, in particular to a flexible hand function rehabilitation training and evaluating device based on a pneumatic telescopic tube.

Background

Hand dyskinesia is common in the later stages of diseases such as cerebral apoplexy, brain injury, cerebral palsy, fracture postoperative, lymphedema, burn wound and the like, taking a cerebral apoplexy patient as an example, as the central nervous of the brain is damaged, the situation that finger paralysis and spasm of the patient occur in the later stage of the diseases can be caused, and serious patients can cause the patient to lose the motor ability of fingers. Currently, for rehabilitation training of hands of cerebral apoplexy patients, a physical therapist is generally required to massage the hands or wear rehabilitation gloves to assist the rehabilitation of the patients.

Currently, devices for recovering hand motor nerve damage on the market mainly comprise a rigid recovery device driven by a miniature motor joint and a flexible drive recovery device driven by a pneumatic telescopic tube. Each finger of the rigid rehabilitation device driven by the micro motor joint is controlled by a single linear motor, so that the torque between joints cannot be adjusted in a self-adaptive manner; the application range is limited. While the flexible hand function rehabilitation device driven by the pneumatic telescopic tube can realize the functions of passive motion, double-hand motion, active game, voice control, power training, anti-resistance training and the like, the flexible hand function rehabilitation device cannot realize linkage with vision, touch sense and electroencephalogram nerve rehabilitation and cannot be networked with other devices, that is, the traditional flexible hand function rehabilitation device driven by the pneumatic telescopic tube cannot carry out linkage rehabilitation with human tissues associated with hands, and cannot carry out data interconnection with other rehabilitation devices to carry out rehabilitation evaluation.

Therefore, the hand rehabilitation exerciser is designed, so that the hand rehabilitation exerciser can help patients to treat sequelae by exercising hand muscle strength and hand accurate actions, and can evaluate rehabilitation effects, and the hand rehabilitation exerciser is a current problem to be solved urgently.

Disclosure of Invention

In view of the above, the invention provides a flexible hand function rehabilitation training and evaluating device based on a pneumatic telescopic tube, which improves the linkage rehabilitation of human tissues associated with the hand through optical stimulation and vibration stimulation on the basis of realizing active, passive, power-assisted, resistance, mirror image, brain control or active game mode training and motion evaluation function integration, and improves the application flexibility and saves the rehabilitation training cost by introducing an auxiliary glove.

The invention provides a flexible hand function rehabilitation training and evaluating device based on a pneumatic telescopic tube, which comprises a control box, auxiliary gloves, main gloves and mirror gloves;

the control box comprises a box body, a panel assembly and a connecting assembly which are arranged on the box body, and a main control module and an inflation assembly which are arranged in the box body; the input end of the main control module is connected with the output end of the panel assembly, and the output end of the main control module is connected with the inflation assembly; the inflatable component is respectively connected with the main glove, the auxiliary glove and the mirror glove through the connecting component;

the main glove is used for hand rehabilitation fine exercise training and comprises a telescopic glove; five pneumatic telescopic tubes and a multi-mode trigger assembly are arranged on the telescopic glove; the five pneumatic telescopic pipes are respectively arranged on five fingers of the telescopic glove, the air inlet holes of the five pneumatic telescopic pipes are connected with the inflation assembly through the connection assembly, and the pneumatic telescopic pipes are not communicated with each other; the multimode trigger assembly is internally provided with LEd lamps which are connected with the five pneumatic telescopic tubes in a one-to-one correspondence manner and five miniature vibration motors in a one-to-one correspondence manner;

The auxiliary glove is used for hand rehabilitation rough exercise training, has a similar structure to the main glove, and is characterized in that only one LED lamp and a miniature vibration motor which are connected with five pneumatic telescopic tubes are arranged in the multi-mode trigger assembly, and the five pneumatic telescopic tubes share one air inlet hole;

The data end of the mirror glove is connected with the main control module and is configured on the healthy hand of a patient or the hand to be recovered according to the requirement; when the hand-held mirror image recovery training device is configured on the healthy hand of the patient, the hand-held mirror image recovery training device is used for collecting motion data on the healthy hand and sending the motion data to the main control module as training data so as to control the main glove or the auxiliary glove to drive the hand to be recovered of the patient to carry out mirror image recovery training; when the device is configured on the hand to be restored of the patient, the device is used for collecting training data of the hand to be restored of the patient and sending the training data to the main control module, so that the current restoration state of the patient is evaluated according to a preset restoration target.

Further, the mirror glove comprises a glove body, five bending sensors arranged on the glove body and a mirror glove controller; the five bending sensors are respectively arranged on five fingers of the glove body and are used for collecting the motion data of the five fingers of the healthy hand of the patient or the training data of the hand to be recovered; the mirror glove controller is internally provided with a second wireless transceiver, and the input end of the second wireless transceiver is respectively connected with the five bending sensors and the first wireless transceiver of the main control board.

Furthermore, for more intuitively evaluating the current recovery state of the hand to be recovered of the patient, the flexible hand function rehabilitation training and evaluating equipment based on the pneumatic telescopic tube is further provided with a grip ball, and the grip ball is connected with the main control module.

Further, the panel assembly comprises a display screen, a switch, a key and an emergency stop switch, wherein the display screen is connected with the main control module, and the output ends of the switch, the key and the emergency stop switch are connected with the input end of the main control module.

Further, the main control module is arranged on a main control module bottom plate in the box body and comprises an electric control bracket, an external conversion circuit board and a direct current power supply module;

A main control board and an industrial personal computer are arranged on the electric control bracket; the master control spanner is provided with an air pressure detection sensor and a first wireless transceiver; the air pressure detection sensor is used for acquiring air pressure signals when the pneumatic telescopic tubes in the main glove and the auxiliary glove are stretched, acquiring generated pressure signals sent by the grip ball and sending the air pressure signals and the pressure signals to the industrial personal computer; the first wireless transceiver receives the wireless signal sent by the mirror glove wireless transceiver; the industrial personal computer analyzes the received various signals and generates corresponding control signals according to analysis results so as to control the switch of the inflation assembly;

the external conversion circuit board is provided with a network cable interface, a video cable interface and a USB interface, and is used for being connected with a rehabilitation management system of a hospital, receiving externally provided rehabilitation signals and providing the externally provided rehabilitation signals to the industrial personal computer;

the direct current power supply module is used for supplying power to the external conversion circuit board, the main control board, the industrial personal computer, the four air pressure detection sensors and the first wireless transceiver.

Further, the pneumatic assembly comprises a pump set box body, a positive pressure pump, a negative pressure pump, an eight-ventilation joint, six normally open two-way electromagnetic valves and two-position three-way electromagnetic valves which are arranged on the pump set box body;

The eight-ventilation joint is fixed on the front surface of the pump set box body, the six normally open two-way electromagnetic valves are fixed on the side surface of the pump set box body, and the positive pressure pump, the negative pressure pump and the three-way electromagnetic valve are fixed in the pump set box body; the air outlet of the positive pressure pump and the air extraction opening of the negative pressure pump are respectively connected with two air inlets of the two-position three-way electromagnetic valve through air pipes; the air outlet of the two-position three-way electromagnetic valve is connected with one of the interfaces of the eight-ventilation joint through an air pipe; six of the remaining interfaces in the eight vent connectors are respectively communicated with air inlets of six normally open two-way electromagnetic valves; the air outlets of the six normally open two-way electromagnetic valves are connected with the main glove and the auxiliary glove through the connecting components, and the last interface of the eight-ventilation joint is connected with the grip ball through the connecting components after passing through the air pressure detection sensor through the air pipe.

Further, the connecting component comprises a five-way communication exhaust pipe, a first male plug lead, a second male plug lead, a first male plug air pipe, a second male plug air pipe, two one-way air valves, two electric plug female plugs and five vent pipe female plugs, wherein the two one-way air valves, the two electric plug female plugs and the five vent pipe female plugs are arranged on the electric cabinet body;

One end of the five-way exhaust pipe is connected with the five pneumatic telescopic pipes of the main glove, and the other end of the five-way exhaust pipe is connected with the five vent pipe female plug arranged on the electric control box body; one end of the first male plug wire is connected with the multimode trigger component of the main glove, and the other end of the first male plug wire is spliced with the female plug of one of the electric plugs;

one end of the second male plug wire is connected with the air pipe of the multimode trigger assembly of the auxiliary glove, and the other end of the second male plug wire is spliced with the other female plug; one end of the first male plug air pipe is connected with the five pneumatic telescopic pipes, and the other end of the first male plug air pipe is connected with one of the one-way air valves in an inserting way;

one end of the second male plug air pipe is connected with a grip ball, and the other end is spliced with another one-way air valve 16.

According to the flexible hand function rehabilitation training and evaluating device based on the pneumatic telescopic tube, provided by the invention, the instruction is sent to the main control template through the touch input of the panel assembly or the display screen, the main control module controls the inflation assembly according to the received instruction, and the inflation assembly generates other functions of active, passive, power-assisted, resistance, mirror image, brain control or active game mode training and motion evaluation which are transmitted to the corresponding air bags through the connecting assembly. Compared with the prior art, the invention has the following advantages:

1. As the LED lamp and the miniature vibration motor are connected with the pneumatic telescopic tube in the main glove and the auxiliary glove, the vision and the touch sense are linked while the rehabilitation actions of fingers are guided, and the systematicness of rehabilitation medical treatment is improved. In addition, the mirror glove is arranged, so that the mirror glove can be worn on healthy hands, training and learning can be performed by continuously simulating the motion data of the healthy hands, and the recovery process is shortened; on the other hand, the device can be worn on the hand to be recovered to intuitively acquire the recovery data, so as to evaluate the recovery data.

2. The hand rehabilitation rough exercise training device integrates the main glove and the auxiliary glove at the same time, the auxiliary glove is used for hand rehabilitation rough exercise training, the main glove is used for hand rehabilitation fine exercise training, and the auxiliary glove is used for hand rehabilitation rough exercise training, so that a patient can select the main glove recovery and the auxiliary glove recovery according to actual requirements, the application flexibility is improved, and the recovery training cost is saved.

3. The main glove, the auxiliary glove, the mirror glove and the internal pump set are detachably connected, so that the replacement and the maintenance are easy.

Drawings

FIG. 1 is a schematic diagram illustrating an axial measurement of a hand rehabilitation training and assessment device according to an embodiment;

FIG. 2 is a schematic diagram illustrating an embodiment of a control box;

FIG. 3 is an exploded view of an embodiment control box;

FIG. 4 is a schematic view of a left side interior portion of an embodiment control box;

FIG. 5 is a schematic diagram illustrating an axial measurement of a main control module according to an embodiment;

FIG. 6 is an exploded view of an embodiment of a master control module;

FIG. 7 is a schematic diagram of a partial pressure sensor according to an embodiment;

FIG. 8 is an isometric view of an example pump set;

FIG. 9 is an exploded schematic view of an embodiment pump set;

FIG. 10 is a schematic diagram of an embodiment primary glove;

FIG. 11 is a schematic view of an embodiment secondary glove;

FIG. 12 is a schematic view of an embodiment mirrored glove;

FIG. 13 is a schematic view of an embodiment grip ball assembly;

Reference numerals: 1 is a control box, 12 is a display screen, 13 is a switch, 14 is a key, 15 is a sudden stop switch, 16 is a one-way air valve, 17 is an electric plug, 18 is a five-vent pipe female plug, 19 is a main control module, 11 is a control box body, 111 is a front plate surface, 112 is a left plate surface, 113 is a right plate surface, 114 is a rear plate surface, 115 is a lower plate surface, 191 is a pump group, 192 is an electric control bracket, 193 is a main control plate, 194 is an industrial personal computer, 195 is a loudspeaker, 196 is a direct current power supply module, 197 is an external conversion circuit board, 198 is a main control module bottom plate, 199 is a fan, and air pressure detection sensors 1931, 1911 are pump group box bodies, 1912 is a positive pressure pump, 1913 is a negative pressure pump, 1914 is a two-position three-way electromagnetic valve, 1915 is six normally open two-way electromagnetic valves, 1916 is an eight-ventilation joint, 31 is five pneumatic telescopic pipes, 32 is a telescopic glove, 33 is a multi-mode triggering component, 34 is a five-way communication exhaust pipe, 35 is a male plug wire, 36 is a five-ventilation pipe male plug, 31 'is a pair of glove five pneumatic telescopic pipes, 32' is a pair of glove telescopic glove, 21 'is a pair of glove multi-mode triggering component, 22 is a male plug air pipe, 35' is a pair of glove male plug wire, 41 is a bending sensor, 42 is a mirror glove body, 43 is a mirror glove controller, and a grip ball 51.

Detailed Description

The technical scheme of the invention is described in detail below with reference to the accompanying drawings.

As shown in fig. 1, the device for rehabilitation training and evaluating of flexible hand functions based on pneumatic telescopic tubes provided in this embodiment includes a control box 1, a pair of auxiliary gloves 2 connected with the control box, a main glove 3, a mirror glove 4, and a grip ball assembly 5.

As shown in fig. 2-9, the control box 1 includes a control box body 11, a display screen 12, a switch 13, a key 14, an emergency stop switch 15, two unidirectional air valves 16, two electric plug female plugs 17, five vent pipe female plugs 18 and a main control module 19 which are arranged on the control box body 11.

The control box 11 comprises a front plate 111, a left plate 112, a right plate 113, a rear plate 114 and a lower plate 115, which are connected by screws. The display 12, the switch 13, the key 14, and the scram switch 15 are embedded in the front panel 111. Two unidirectional air valves 16, two female heads 17 of electric plug and five breather pipe female plugs 18 are embedded on the left panel 112, for convenience of description, will be referred to as the first unidirectional air valve 16, the second unidirectional air valve 16 respectively, two female heads 17 of electric plug respectively refer to as first female head 17 of electric plug, the range order from the top down on the left panel 112 is: the first one-way air valve 16, the first electric plug-in female plug 17, the second electric plug-in female plug 17, the five-vent pipe female plug 18 and the second one-way air valve 16. The main control module 19 is mounted on the lower plate surface 115.

The main control module 19 includes a base plate 198, an external conversion circuit board 197 mounted on the base plate 198, an electric control bracket 192, a pump set 191, a dc power module 196, a horn 195 and a fan 199. Pump package 191, automatically controlled support 192, DC power supply module 196 are fixed in the middle part of main control module bottom plate 198, and loudspeaker 195 and fan 199 are fixed in the both sides of main control module bottom plate 198 respectively through the bolt, and fan 199 is used for the fan heat, and loudspeaker is used for carrying out voice broadcast.

The external conversion circuit board 197 is provided with a network cable interface, a video cable interface and a USB interface, and the network cable interface, the video cable interface and the USB interface are provided with a display screen which can be externally connected with a large size, so that the user can perform active game rehabilitation conveniently, and the device can be connected with a rehabilitation management system of a hospital, and has better device interconnection characteristics.

The electric control bracket 192 is provided with a main control board 193 and an industrial personal computer 194, and the main control board 193 is provided with an air pressure detection sensor 1931 and a first wireless signal transceiver; the air pressure detecting sensor 1931 is used for measuring air pressure in the air path and is set according to requirements. The embodiment is provided with 4 air pressure detection sensors, three of which are respectively used for measuring the air pressure in the air passage of the main glove, the air pressure in the auxiliary glove and the air pressure in the grip ball, and the last one is used as a redundant sensor.

The pump set 191 comprises a pump set box 1911, a positive pressure pump 1912, a negative pressure pump 1913, an eight-ventilation joint 1916, six normally open two-way electromagnetic valves 1915 and two-position three-way electromagnetic valves 1914 which are fixedly arranged on the pump set box 1911; the eight-vent connector 1916 is fixed on the front surface of the pump set box 1911, the six normally open two-way electromagnetic valves 1915 are fixed on the side surface of the pump set box 1911, and the positive pressure pump 1912, the negative pressure pump 1913 and the three-way electromagnetic valve 1914 are fixed inside the pump set box 1911; an air outlet of the positive pressure pump 1912 and an air extraction opening of the negative pressure pump 1913 are respectively connected into two air inlets of the two-position three-way electromagnetic valve 1914 through air pipes; the air outlet of the two-position three-way electromagnetic valve 1914 is connected with one of the interfaces of the eight-ventilation joint 1916 through an air pipe; six of the remaining 7 ports in the eight vent connector 1916 are respectively communicated with the air inlets of the six normally open two-way solenoid valves 1915; the air outlets of the six normally open two-way electromagnetic valves 1915 are respectively connected with one end of a five-vent pipe female plug 18 and the first one-way air valve 16, and the last interface of the eight-vent joint 1916 is communicated with an air pressure detection sensor 1931 through an air pipe; the positive pressure pump 1912, the negative pressure pump 1913, the two-position three-way electromagnetic valve 1914, the six normally open two-way electromagnetic valves 1915 and the fan 199 are all connected with the main control board 193 through wires, and the main control board 193 is connected with the industrial personal computer 194 and the wire outlet ends of the two electric plug female plugs 17 through wires. Another air pressure detecting sensor 1931 is connected to one end of the second one-way air valve 16 through an air pipe.

As shown in fig. 10, the main glove 3 comprises five pneumatic telescopic tubes 31, telescopic gloves 32, a multi-mode trigger assembly 33, a five-way communication exhaust tube 34, a male plug wire 35 and a five-way vent tube male plug 36; the five pneumatic telescopic pipes 31 are arranged on five fingers of the telescopic glove 32, the air inlet ends of the five pneumatic telescopic pipes 31 are connected with one end of a five-way communication exhaust pipe 34 penetrating through the multi-mode triggering assembly 33, the other end of the five-way communication exhaust pipe 34 is connected with a five-way ventilation pipe male plug 36, five LEd lamps which are in one-to-one correspondence with the five pneumatic telescopic pipes 31 and five miniature vibration motors which are in one-to-one correspondence with the five pneumatic telescopic pipes are arranged in the multi-mode triggering assembly 33, and the miniature vibration motors are used for driving the five pneumatic telescopic pipes to extend and shorten, and the LEd lamps flash according to the extension and the shortening of the five pneumatic telescopic pipes; the wire end of the male plug wire 35 is connected to the multimode trigger assembly 33; the five-vent-pipe male plug 36 is matched with the shape of the other end of the five-vent-pipe female plug 18, and the two are detachably connected in a plugging manner; the male plug of the male plug wire 35 is matched with the female plug of the female plug 17 of the electric plug, and the detachable connection between the male plug wire and the female plug is realized in a plugging mode.

As shown in fig. 11, the auxiliary glove 2 includes five pneumatic telescopic tubes 31', telescopic gloves 32', a multi-mode trigger assembly 21', a male plug air tube 22, a male plug wire 35'; five pneumatic telescopic tubes 31 'are arranged on five fingers of a telescopic glove 32', and the five pneumatic telescopic tubes 31 'are integrated into the auxiliary glove multi-mode trigger assembly 21' and are spliced with the second female plug 17 through the male plug air pipe 22; the multimode trigger assembly 21' comprises a LEd lamp and a miniature vibration motor; the wire end of the male plug wire 35 'is connected to the multimode trigger assembly 21'; the male plug air pipe 22 of the auxiliary glove 2 is matched with the first one-way air valve 16, and the two are detachably connected in a plugging mode.

As shown in fig. 12, the mirror glove 4 includes a glove 42, five bending sensors 41 provided on the glove, and a mirror glove controller 43; the glove 42 is a split glove, and five bending sensors 41 are respectively mounted on five fingers of the glove 42; mirror glove controller 43 is mounted on glove 42 near the wrist with wireless transceiver means disposed therein for communicating with wireless receiving means on main control board 193.

As shown in fig. 13, the grip ball assembly 5 includes a grip ball 51, a male plug air tube 22; the male plug air pipe 22 on the grip ball assembly 5 is matched with the other end of the second one-way air valve 16 so that the male plug air pipe and the second one-way air valve can be communicated in a plugging mode.

When the device is used, the flexible hand function rehabilitation training and evaluating device based on the pneumatic telescopic tube transmits an instruction to the main control template through the touch input of the panel assembly or the display screen, the main control module controls the inflation assembly according to the received instruction, and the inflation assembly generates other air bags which are transmitted to the corresponding air bags through the connecting assembly to perform the active, passive, power-assisted, resistance, mirror image, brain control or active game mode training and motion evaluating functions. Specific:

The active mode: the patient intentionally performs hand buckling and stretching operations, and the air pressure and flow of the air circuit are controlled by a built-in program, so that the main glove and the auxiliary glove provide the same amount with the hand movement direction of the patient.

The passive mode: the air pressure and flow of the air circuit are controlled by the built-in preset training program, and the actions of the positive pressure pump, the negative pressure pump, the two-position three-way electromagnetic valve, the six normally open two-way electromagnetic valves and the like can realize the mode that all fingers of the main glove, a single finger and all fingers of the auxiliary glove are buckled and stretched according to preset actions.

The assistance mode: the patient intentionally performs the hand buckling and stretching operation, and the air pressure and the flow of the air circuit are controlled by the built-in program, so that the main glove and the auxiliary glove provide a force opposite to the hand movement direction of the patient.

The resistive mode: the patient intentionally performs the hand buckling and stretching operation, and the built-in program controls the air pressure and the flow of the air circuit, so that the main glove and the auxiliary glove provide a rehabilitation training mode of force in opposite directions.

The mirror mode: the mirror glove is carried on the hand of the patient on the healthy side, buckling and stretching operations are carried out, signals generated by the bending sensor on the mirror glove are transmitted to a wireless signal through the mirror glove controller, the wireless signal is received by a wireless signal receiving and transmitting device arranged on the main control board, and the industrial personal computer analyzes and controls the main glove to generate the same operation as the mirror glove, namely, the mode that the hand on the healthy side drives the hand on the diseased side to perform rehabilitation exercise.

The brain control mode: the invention is provided with the wireless signal transceiver on the main control board, and can receive wireless signals sent by brain-computer equipment, and the industrial personal computer analyzes the sent signals to control the actions of the positive pressure pump, the negative pressure pump, the two-position three-way electromagnetic valve and the six normally-open two-way electromagnetic valves, so as to control the operation of driving the hand to flex and extend by the glove.

The active game: the small game which is realized by hand operation is displayed on the display screen, and the patient actively controls the hand to flex and stretch to complete the game task, so that the rehabilitation effect is achieved.

The lamp LEd corresponding to the five pneumatic telescopic tubes one by one and the miniature vibration motor corresponding to the five pneumatic telescopic tubes one by one in the rehabilitation process can be lightened by the corresponding lamp LEd when the fingers act, the miniature vibration motor can vibrate, vision and touch dual-stimulation nerves exist, the purpose of linkage rehabilitation is achieved, and the rehabilitation effect and efficiency are finally improved.

Exercise ability assessment: the pressure ball component is pinched by the hand at the affected side to generate air pressure higher than the environment, the pressure signal is detected by the air pressure detection sensor and transmitted to the industrial personal computer for analysis, and a specific grip numerical value is given to judge the rehabilitation effect.

In summary, the pneumatic telescopic tube-based flexible hand function rehabilitation training and evaluating equipment has more perfect functions, combines vision and touch to carry out linkage rehabilitation in the recovery process, and improves the systematicness of rehabilitation medical treatment; after the auxiliary glove is introduced, a patient can select the auxiliary glove to perform hand rehabilitation rough exercise training or select the main glove to perform hand rehabilitation fine exercise training according to the requirements, so that the flexibility is higher, and the medical resource waste is reduced.

Claims (7)

1. Flexible hand function rehabilitation training and evaluation equipment based on pneumatic flexible pipe, its characterized in that: comprises a control box, auxiliary gloves, main gloves and mirror gloves;

The control box comprises a box body, a panel assembly and a connecting assembly which are arranged on the box body, and a main control module and an inflation assembly which are arranged in the box body; the input end of the main control module is connected with the output end of the panel assembly, and the output end of the main control module is connected with the inflation assembly; the inflatable component is respectively connected with the main glove, the auxiliary glove and the mirror glove through the connecting component;

The main glove is used for hand rehabilitation fine exercise training and comprises a telescopic glove; five pneumatic telescopic tubes and a multi-mode trigger assembly are arranged on the telescopic glove; the five pneumatic telescopic pipes are respectively arranged on the five fingers of the first telescopic glove, the air inlet holes of the five pneumatic telescopic pipes are connected with the air charging assembly through the connecting assembly, and the pneumatic telescopic pipes are not communicated with each other; the multimode trigger assembly is internally provided with LEd lamps which are connected with the five pneumatic telescopic tubes in a one-to-one correspondence manner and five miniature vibration motors in a one-to-one correspondence manner;

The auxiliary glove is used for hand rehabilitation rough exercise training, has a similar structure to the main glove, and is characterized in that only one LED lamp and a miniature vibration motor which are connected with five pneumatic telescopic tubes are arranged in the multi-mode trigger assembly, and the five pneumatic telescopic tubes share one air inlet hole;

The data end of the mirror glove is connected with the main control module and is configured on the healthy hand of a patient or the hand to be recovered according to the requirement; when the hand-held mirror image recovery training device is configured on the healthy hand of the patient, the hand-held mirror image recovery training device is used for collecting motion data on the healthy hand and sending the motion data to the main control module as training data so as to control the main glove or the auxiliary glove to drive the hand to be recovered of the patient to carry out mirror image recovery training; when the device is configured on the hand to be recovered of the patient, the device is used for collecting hand training data to be recovered of the patient and sending the hand training data to the main control module so as to evaluate the current recovery state of the patient according to a preset recovery target.

2. The flexible hand function rehabilitation training and assessment device based on the pneumatic telescopic tube according to claim 1, wherein: the mirror glove comprises a glove body, five bending sensors arranged on the glove body and a mirror glove controller; the five bending sensors are respectively arranged on five fingers of the glove body and are used for collecting the motion data of the five fingers of the healthy hand of the patient or the training data of the hand to be recovered; the mirror glove controller is internally provided with a second wireless transceiver, and the input end of the second wireless transceiver is respectively in communication connection with the five bending sensors and the wireless transceiver of the main control board.

3. The flexible hand function rehabilitation training and assessment device based on the pneumatic telescopic tube according to claim 1, wherein: the flexible hand function rehabilitation training and evaluating equipment based on the pneumatic telescopic tube is further provided with a grip ball, and the grip ball is connected with the main control module.

4. A pneumatic telescopic tube-based flexible hand function rehabilitation training and assessment device according to claim 3, characterized in that: the panel assembly comprises a display screen, a switch, a key and a scram switch, wherein the display screen is connected with the main control module, and the output ends of the switch, the key and the scram switch are connected with the input end of the main control module.

5. The flexible hand function rehabilitation training and assessment device based on the pneumatic telescopic tube according to claim 4, wherein: the main control module is arranged on a main control module bottom plate in the box body and comprises an electric control bracket, an external conversion circuit board and a direct current power supply module;

A main control board and an industrial personal computer are arranged on the electric control bracket; the master control spanner is provided with an air pressure detection sensor and a first wireless transceiver; the air pressure detection sensor is used for acquiring air pressure signals when the pneumatic telescopic tubes in the main glove and the auxiliary glove are stretched, acquiring generated pressure signals sent by the grip ball and sending the air pressure signals and the pressure signals to the industrial personal computer; the first wireless transceiver receives the wireless signal sent by the mirror glove wireless transceiver; the industrial personal computer analyzes the received various signals and generates corresponding control signals to control the inflation assembly according to analysis results;

the external conversion circuit board is provided with a network cable interface, a video cable interface and a USB interface, and is used for being connected with a rehabilitation management system of a hospital, receiving externally provided rehabilitation signals and providing the externally provided rehabilitation signals to the industrial personal computer;

The direct current power supply module is used for supplying power to the external conversion circuit board, the main control board, the industrial personal computer, the air pressure detection sensor and the first wireless transceiver.

6. The flexible hand function rehabilitation training and assessment device based on the pneumatic telescopic tube according to claim 5, wherein: the pneumatic assembly comprises a pump set box body, a positive pressure pump, a negative pressure pump, an eight-ventilation joint, six normally open two-way electromagnetic valves and two-position three-way electromagnetic valves which are arranged on the pump set box body;

The eight-ventilation joint is fixed on the front surface of the pump set box body, the six normally open two-way electromagnetic valves are fixed on the side surface of the pump set box body, and the positive pressure pump, the negative pressure pump and the three-way electromagnetic valve are fixed in the pump set box body; the air outlet of the positive pressure pump and the air extraction opening of the negative pressure pump are respectively connected with two air inlets of the two-position three-way electromagnetic valve through air pipes; the air outlet of the two-position three-way electromagnetic valve is connected with one of the interfaces of the eight-ventilation joint through an air pipe; six of the remaining interfaces in the eight vent connectors are respectively communicated with air inlets of six normally open two-way electromagnetic valves; the air outlets of the six normally open two-way electromagnetic valves are connected with the main glove and the auxiliary glove through the connecting components, and the last interface of the eight-ventilation joint is connected with the grip ball through the connecting components after passing through the air pressure detection sensor through the air pipe.

7. The flexible hand function rehabilitation training and assessment device based on the pneumatic telescopic tube according to claim 6, wherein: the connecting component comprises a five-way communication exhaust pipe, a first male plug lead, a second male plug lead, a first male plug air pipe, a second male plug air pipe, two one-way air valves, two electric plug female plugs and five vent pipe female plugs, wherein the two one-way air valves, the two electric plug female plugs and the five vent pipe female plugs are arranged on the electric cabinet body;

One end of the five-way exhaust pipe is connected with the five pneumatic telescopic pipes of the main glove, and the other end of the five-way exhaust pipe is connected with the five vent pipe female plug arranged on the electric control box body; one end of the first male plug wire is connected with the multimode trigger component of the main glove, and the other end of the first male plug wire is spliced with the female plug of one of the electric plugs;

one end of the second male plug wire is connected with the air pipe of the multimode trigger assembly of the auxiliary glove, and the other end of the second male plug wire is spliced with the other female plug; one end of the first male plug air pipe is connected with the five pneumatic telescopic pipes, and the other end of the first male plug air pipe is connected with one of the one-way air valves in an inserting way;

one end of the second male plug air pipe is connected with the grip ball, and the other end of the second male plug air pipe is spliced with another one-way air valve.