CN118236675A

CN118236675A - Virtual hand training control device and control method thereof

Info

Publication number: CN118236675A
Application number: CN202410344239.4A
Authority: CN
Inventors: 郭凯; 朱笑莹; 杨洪波; 陈远凯; 马哈茂德·艾尔萨曼缇
Original assignee: Suzhou Institute of Biomedical Engineering and Technology of CAS
Current assignee: Suzhou Institute of Biomedical Engineering and Technology of CAS
Priority date: 2024-03-25
Filing date: 2024-03-25
Publication date: 2024-06-25

Abstract

The invention discloses a virtual hand training control device and a control method thereof, and relates to the field of virtual training application. The virtual hand training control device comprises a hand sleeve, an arm sleeve, an operating mechanism and a controller, wherein the arm sleeve and the glove are arranged at intervals in a split mode; the operating mechanism comprises a positioning unit, a displacement unit, a driving unit and a detection unit. According to the invention, the hand sleeve and the arm sleeve are separately arranged at intervals, so that the bearing load caused by training of the equipment is reduced during use; the hand sleeve member and the arm sleeve member are connected through the operating mechanism, the displacement units are driven by bending motions of different degrees of human fingers, and the detection units detect first displacement signals corresponding to the displacement units and feed back to the controller to be integrated and collected so as to provide resistance to bending of the fingers wearing the hand sleeve member. The invention can strengthen the use degree of the tendons of the hand fingers, accelerate the recovery construction of the body and improve the use effect of control training.

Description

Virtual hand training control device and control method thereof

Technical Field

The invention relates to the field of virtual training application, in particular to a virtual hand training control device and a control method thereof.

Background

For rehabilitation applications of digital twinning technology, the physical parameters of people can be accurately identified through the matched equipment to form a reliable and rich data source, which can be used for determining new and more effective treatment and rehabilitation routes.

The glove type controller is used as a training instrument for hand training, and can play a role in helping people to grip in a boosting way and assist in rehabilitation; however, the traditional glove type controller is generally arranged on the palm side in a concentrated manner, so that the palm is heavy in bearing, and the bearing load of the hand is improved; the auxiliary power-assisted gripping function actually implemented by the device delays the recovery construction of the body itself in a long-time recovery stage after operation, the use degree of the tendons of the fingers is insufficient, and the use effect of control training is reduced.

Disclosure of Invention

In order to solve the technical problems set forth in the background art, the present invention provides a virtual hand training control device, including:

A glove member adapted to be worn by a palm;

the arm sleeve is suitable for wearing at the arm part and is arranged at intervals in a split mode with the glove pieces;

At least one operating mechanism; the operating mechanism comprises a positioning unit, a displacement unit, a driving unit and a detection unit;

The positioning unit is arranged on the glove piece near the back side of the hand, the positioning unit is arranged along the extending direction of the fingers of the human body, one end of the displacement unit is connected with the positioning unit, the other end of the displacement unit is in transmission connection with the driving unit, the driving unit and the detecting unit are arranged on the arm suite, and the detecting unit is used for detecting a first displacement signal generated by the driving unit driven by the displacement unit under the bending action of the fingers and a second displacement signal generated by the driving unit driven by the driving unit;

And a controller electrically connected to the drive unit, the controller electrically connected to the detection unit, the controller configured to collect the first displacement signal and the second displacement signal; determining a driving signal of the driving unit according to the first displacement signal so as to drive the displacement unit to simulate the reaction gesture of finger bending; and determining the displacement of the displacement unit for executing the reaction process according to the second displacement signal so as to correct the driving signal of the driving unit.

Optionally, the displacement unit comprises an operating wire and a flexible tooth condition; one end of the operating wire is connected with the driving unit, the other end of the operating wire is connected with the flexible tooth condition, the flexible tooth condition is arranged along the extending direction of the positioning unit, and the flexible tooth condition and the positioning unit are arranged in an adjustable mode.

Optionally, the positioning unit includes finger cap piece and location guide piece, finger cap piece swing joint the gloves piece, finger cap piece is suitable for fixed the cup joint at the fingertip part of human finger, the location guide piece is fixed to be cup jointed on the hand external member, location guide piece with flexible rack piece sliding arrangement, flexible tooth condition has tooth form structure, finger cap piece be provided with tooth form structure corresponds the connection structure that sets up, so that finger cap piece with flexible tooth condition adjustable setting.

Optionally, the virtual hand training control device further comprises a bracket, and the bracket is fixedly connected with the arm suite;

The driving unit comprises a driving piece, a rotating member and a supporting member, wherein the driving piece is installed on the support, the rotating member is arranged on the output side of the driving piece, the supporting member is installed on the support, one end, far away from the positioning unit, of the operating wire is suitable for being slidably penetrated through the support so as to be fixedly connected with the rotating member, and the rotating member is suitable for winding and unwinding the operating wire.

Optionally, the driving unit further includes a rocker arm limiter and a rotation stop, the rocker arm limiter is disposed on one side of the driving unit facing the rotating member, the rocker arm limiter and the bracket are relatively fixedly disposed, the rotation stop is fixedly disposed on one side of the rotating member facing the driving unit, and the rocker arm limiter is disposed on a path of the rotation stop along with the rotating movement of the rotating member.

Optionally, the detection unit includes a potentiometer, the potentiometer is fixedly arranged on the supporting member, and a detection end of the potentiometer is suitable for detecting the angular displacement of the rotating member.

Optionally, the driving unit further comprises a reset element, wherein the reset element is in an elastic structure, one end of the reset element is installed on the bracket, the other end of the reset element is connected to the rotating member, and the reset element is suitable for acting on the rotating member to reset.

Optionally, the control device further includes a force detecting member, the force detecting member is mounted on the reset element, the force detecting member is electrically connected to the controller, and the force detecting member is configured to detect a reset force of the reset element.

Optionally, the control device further comprises a connecting unit, wherein the connecting unit comprises a connecting limiting piece, a pipe body, a first joint and a second joint;

The utility model discloses a glove type electric motor is characterized by also comprising a glove piece, a first connector, a second connector, a driving unit, a connecting limiting piece, a glove piece, a tube body, a first connector, a second connector, a connecting limiting piece, a connecting wire, a connecting limiting piece, a first connector, a tube body and a second connector.

A control method of a virtual hand training control apparatus, the control method comprising:

The human finger bends to drive the hand suite and the displacement unit to move, and a first displacement signal of the displacement unit is obtained;

determining a driving signal of the driving unit according to the first displacement signal;

acquiring a second displacement signal of the displacement unit under the drive of the drive unit;

Correcting the driving signal of the driving unit according to the second displacement signal;

traversing the motion gesture of the glove piece along with the bending of the finger to determine a reaction gesture model of the driving unit driving the displacement unit to simulate the bending of the finger.

The technical scheme provided by the invention has the following advantages:

1. According to the virtual hand training control device, the hand sleeve and the arm sleeve are arranged at intervals in a split mode, the hand sleeve is worn on the palm part, the arm sleeve is worn on the arm part, the load of the palm part is reduced, and the load bearing caused by training of equipment in use is reduced; the hand sleeve member and the arm sleeve member are connected through the operating mechanism, the displacement units are driven by bending motions of different degrees of human fingers, the detection units detect first displacement signals corresponding to the displacement units and feed back to the controller for integration and acquisition, the controller determines driving signals to be output by the driving units according to the acquired first displacement signals so as to provide resistance to bending of fingers wearing the hand sleeve member, and meanwhile, the detection units detect second displacement signals generated by the displacement units under the driving of the driving units so as to determine displacement of the displacement units along with the driving units in the reaction process, so that the driving signals of the driving units are compared and corrected. The number of the operating mechanisms can be configured according to the requirements, and the purpose of resisting the bending motion postures of different fingers can be achieved. The invention can strengthen the use degree of the tendons of the hand fingers, accelerate the recovery construction of the body and improve the use effect of control training.

2. According to the virtual hand training control device provided by the invention, the flexible tooth condition and the positioning unit are configured to be adjustable, so that the flexible tooth condition with the proper working length is selected according to the length of the finger, the flexible rack member bends under the action of the finger part of the hand set, and one end, far away from the fingertip part, of the flexible rack member drives the operation line to displace so as to be detected by the detection unit.

3. According to the virtual hand training control device provided by the invention, the rocker arm limiting piece is arranged on the path of the rotation stop piece along with the rotation movement of the rotation member, when the operation wire drives the rotation member to move, and when the rocker arm limiting piece is in contact limiting with the rotation member, the operation wire is constrained by the rotation member, so that the resistance action on the bending movement of the finger can be fixed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a virtual hand training control device provided by the invention;

Fig. 2 is a schematic structural diagram of a virtual hand training control device provided by the invention;

FIG. 3 is a schematic diagram of a partial structure of an operating mechanism in the virtual hand training control device provided by the invention;

fig. 4 is a schematic connection diagram of a driving unit in the virtual hand training control device provided by the invention;

fig. 5 is a schematic structural diagram of a driving unit in the virtual hand training control device provided by the invention;

FIG. 6 is a schematic diagram illustrating connection of a positioning unit in the virtual hand training control device according to the present invention;

Reference numerals illustrate:

1-a hand kit; 2-arm kit;

A 3-positioning unit; 31-means cap member; 32-positioning a guide;

a 4-displacement unit; 41-an operation line; 42-flexible racks;

a 5-linking unit; 51-connecting a limiting piece; 52-a tube body; 53-first linker; 54-second linker;

a 6-drive unit; 61-a driving member; 62-rocker arm stop; 63-a rotating member; 64-a support member; 65-a rotation stop;

7-a detection unit; 71-potentiometer; 8-bracket.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Example 1

The present embodiment provides a virtual hand training control device, see fig. 1 and 2, comprising a hand set 1, an arm set 2, one or more operating mechanisms and a controller, the hand set 1 being adapted to be worn on the palm of the hand; the arm sleeve member 2 is suitable for wearing in the arm part, and the arm sleeve member 2 and the glove member 1 are arranged at intervals in a separated manner.

Referring to fig. 1 and 2, the operating mechanism includes a positioning unit 3, a displacement unit 4, a driving unit 6, and a detecting unit 7; the detection unit 7 is used for detecting a first displacement signal generated by the driving unit 6 driven by the displacement unit 4 under the bending action of the finger and a second displacement signal generated by the driving unit 6 driving the displacement unit 4; the controller is electrically connected with the driving unit 6, the controller is electrically connected with the detection unit 7, and the controller is configured to collect a first displacement signal and a second displacement signal; determining a driving signal of the driving unit 6 according to the first displacement signal to drive the displacement unit 4 to simulate the reaction gesture of finger bending; based on the second displacement signal, the displacement of the displacement unit 4 performing the reaction process is determined to correct the drive signal of the drive unit 6.

In this embodiment, referring to fig. 2, the positioning unit 3 is disposed on the back side of the hand set 1, the positioning unit 3 is disposed along the extending direction of the finger of the human body, one end of the displacement unit 4 is connected to the positioning unit 3, the other end of the displacement unit 4 is in transmission connection with the driving unit 6, and the driving unit 6 and the detecting unit 7 are mounted on the arm set 2.

In some specific embodiments, referring to fig. 4 to 6, the displacement unit 4 includes an operation wire 41 and a flexible rack 42; one end of the operation wire 41 is connected with the driving unit 6, the other end of the operation wire 41 is connected with a flexible rack 42, the flexible rack 42 is arranged along the extending direction of the positioning unit 3, and the flexible rack 42 and the positioning unit 3 are arranged in an adjustable mode. The finger bending movement and driving unit 6 is coupled by an operating wire 41 and a flexible rack 42.

In some embodiments, referring to fig. 6, the positioning unit 3 includes a finger cap 31 and a positioning guide 32, the finger cap 31 is movably connected to the hand set 1, the finger cap 31 is adapted to be fixedly sleeved on a fingertip portion of a human finger, the positioning guide 32 is fixedly sleeved on the glove 1, the positioning guide 32 and the flexible rack 42 are slidably configured, the flexible rack 42 has a tooth structure, and the finger cap 31 is provided with a connection structure corresponding to the tooth structure, so that the finger cap 31 and the flexible rack 42 are adjustably arranged. In this arrangement, the flexible rack 42 and the positioning unit 3 are configured to be adjustable, so that the flexible rack 42 with a suitable working length can be selected according to the length of the finger, the flexible rack 42 bends under the action of the finger part of the hand-held set 1, and one end, away from the fingertip part, of the flexible rack 42 drives the operation wire 41 to displace, so that the detection unit 7 detects the displacement. The connection position between the flexible rack 42 and the finger cap 31 can be adjusted by pressing.

In one embodiment, the finger cap 31 may be provided with a living clasp, similar to a tie, which also serves the purpose of adjusting the position of the connection between the flexible rack 42 and the finger cap 31.

In some specific embodiments, referring to fig. 3 to 5, the virtual hand training control device further comprises a bracket 8, wherein the bracket 8 is fixedly connected with the arm set 2; the driving unit 6 includes a driver 61, a rotating member 63, and a supporting member 64, the driver 61 is mounted on the bracket 8, the rotating member 63 is disposed on an output side of the driver 61, the supporting member 64 is mounted on the bracket 8, an end of the operating wire 41 remote from the positioning unit 3 is adapted to slide through the bracket 8 to be fixedly connected with the rotating member 63, and the rotating member 63 is adapted to wind the winding and unwinding operating wire 41. When the finger is bent, the rotating member 63 is correspondingly driven to move by the operation wire 41, the rotating member 63 performs the unreeling operation, and the detecting unit 7 detects the rotational stroke of the rotating member 63 to correspond to the displacement stroke of the operation wire 41. When the driver 61 drives the rotating member 63 to rotate, the rotating member 63 drives the operation wire 41 to move in the reverse direction, the rotating member 63 performs the winding operation, and the detecting unit 7 detects the reverse rotation stroke of the rotating member 63 and also corresponds to the displacement stroke of the operation wire 41. The driving element 61 can drive the rotating member 63 to perform forward and reverse rotation. The driving member 61 may be provided in a forward and reverse steering engine configuration.

In some embodiments, referring to fig. 5, the driving unit 6 further includes a swing arm limiter 62 and a rotation stopper 65, the swing arm limiter 62 is disposed on a side of the driving unit 61 facing the rotating member 63, the swing arm limiter 62 and the bracket 8 are fixedly disposed with respect to each other, the rotation stopper 65 is fixedly disposed on a side of the rotating member 63 facing the driving unit 61, and the swing arm limiter 62 is disposed on a path of the rotation stopper 65 along with the rotating movement of the rotating member 63. In this arrangement, by arranging the rocker arm stopper 62 on the path along which the rotation stopper 65 moves rotationally with the rotating member 63, when the operating wire 41 moves the rotating member 63, the operating wire 41 is restrained by the rotating member 63 when the rocker arm stopper 62 and the rotating member 63 are in contact with each other to perform a fixed resistance to the bending movement of the finger.

In a specific embodiment, the operation wire 41 is configured as a kevlar rope, which is light, high in strength, high in modulus, stable in structural dimension, and low in shrinkage, so that the movement precision of the displacement unit 4 is guaranteed, and the detection precision of the detection unit 7 is improved.

In some embodiments, referring to fig. 3 to 5, the detection unit 7 comprises a potentiometer 71, the potentiometer 71 being fixedly arranged on the support member 64, the detection end of the potentiometer 71 being adapted to detect the angular displacement of the rotating member 63. The angular displacement is converted into linear resistance output through the potentiometer 71, so that the linear displacement of the operation line 41 is monitored, and the displacement data of the operation line 41 are counted and summarized by the controller.

In some embodiments, the driving unit 6 further comprises a resetting element (not shown in the figures) provided in an elastic structure, one end of which is mounted on the support 8 and the other end of which is connected to the rotating member 63, the resetting element being adapted to act on the rotating member 63 for resetting. The reset element and the area of the rotating member 63, around which the release operation wire 41 is wound, are disposed so as to be away from each other; the reset elements may be provided in two, and the operation line 41 may be provided between the two reset elements. The reset element acts on the reset of the rotating stroke of the rotating member 63, so that the flexible impedance effect can be generated in the process of bending fingers to drive the displacement unit 4 to move and displace and the process of driving the action displacement unit 4 to simulate training impedance by the driving unit 6, the continuous force transmission can be enhanced, and the compensation effect can be achieved on training control.

In a specific embodiment, the reset element may be connected at one end to the bottom of the initial position of the rotating member 63 and at the other end to the side of the bracket 8 facing the rotating member 63.

In a specific embodiment, the return element can be connected at one end to a lateral zone arranged in the initial position of the rotating member 63 and at the other end to the side of the support 8 facing the rotating member 63. The reset element may be arranged obliquely or vertically on the end face of the holder 8.

In some embodiments, the control device further comprises a force detecting member (not shown) mounted on the reset element, the force detecting member being electrically connected to the controller, the reset force of the reset element being detected by the force detecting member; the controller is configured with an execution program responsive to a maximum threshold of the force detecting member to cancel the driving to improve the use safety of the control device.

Further, the rotating member 63 is configured as an expandable element, the rotating member 63 includes a body, an air spring and a winding element, the air spring is disposed between the body and the winding element, the body, the air spring and the winding element are in a revolving structure configured in a conformal manner, the winding element is configured as an elastic structure, an air port is formed in the air spring, a micro air valve is installed on the air port, and the micro air valve is used for pressurizing and air-charging or exhausting the air spring, so that the inner volume of the air spring is changed, the winding element can have different diameters, and the rotating member 63 has the capability of expanding and deforming; such an arrangement allows the radial dimension of the rotating member 63 to be varied; for example, by increasing the radial dimension of the rotating member 63, the resistance of the return element can be increased, and the resistance force when the finger is bent can be increased.

In the combined use process of some embodiments, the control device can be matched with virtual rehabilitation training to carry out bidirectional communication with the peripheral host; when a user grabs a real object to generate finger bending, the detection unit 7 detects that a first displacement signal of the operation line 41 is transmitted to the peripheral host, and the peripheral host controls the virtual finger to generate bending action correspondingly; when the virtual hand grabs the designed object, the peripheral host computer imports input data through the controller of the control device by the displacement parameters required to be grabbed by the designed object, so that the rocker arm limiting piece 62 and the rotating member 63 in the driving unit 6 are in contact limiting, and fixed impedance is implemented on the bending motion of the finger.

In some embodiments, referring to fig. 1 to 3, the control device further comprises a connection unit 5, the connection unit 5 comprising a connection limiter 51, a tube 52, a first joint 53 and a second joint 54; the connection limiting member 51 is fixedly connected with the glove member 1, the pipe body 52 is connected between the first joint 53 and the joint, the first joint 53 is fixedly arranged with the connection limiting member 51, the second joint 54 is fixedly connected with the mounting end of the driving unit 6, and the operation wire 41 sequentially slides through the connection limiting member 51, the first joint 53, the pipe body 52 and the second joint 54 in the direction from the glove member 1 to the arm suite 2 so as to connect the driving unit 6. The displacement direction of the operation wire 41 is routed through the connection unit 5, and a peripheral protection effect is provided for operability.

In a specific embodiment, the positioning guide 32 and the connection limiter 51 are both disposed at the back side of the metacarpal of the hand, and the positioning guide 32 and the connection limiter 51 are disposed at intervals, and, for example, the positioning guide 32 and the connection limiter 51 may be disposed at intervals of 5 cm.

According to the virtual hand training control device provided by the embodiment, the hand sleeve 1 and the arm sleeve 2 are arranged at intervals in a split mode, the hand sleeve 1 is worn on the palm part, the arm sleeve 2 is worn on the arm part, the load of the palm part is reduced, and the load bearing caused by training of equipment in use is reduced; the hand set 1 and the arm set 2 are connected through the operating mechanism, the displacement units 4 are driven by bending movements of different degrees of human fingers, the detection units 7 detect first displacement signals corresponding to the displacement units 4 and feed back to the controller for integrated acquisition, the controller determines driving signals required to be output by the driving units 6 according to the acquired first displacement signals so as to provide resistance to the bending of the fingers wearing the hand set 1, and meanwhile, the detection units 7 detect second displacement signals generated by the displacement units 4 under the driving of the driving units 6 so as to determine the displacement of the displacement units 4 in the reaction process executed by the driving units 6, so that the driving signals of the driving units 6 are compared and corrected. The invention can strengthen the use degree of the tendons of the hand fingers, accelerate the recovery construction of the body and improve the use effect of control training.

In the above description, the number of the operating mechanisms can be configured according to the requirement, so that the purpose of resisting the bending motion postures of different fingers can be achieved.

In some embodiments, the driving unit 6, the positioning unit 3 and the connecting unit 5 may select a 3D printing manufacturing manner to form a multi-flexible body coupled bionic hand control device. For example, PLA material is selected, so that the weight is light, the strength is good, and the hand load of a user can be reduced.

The hand rehabilitation exoskeleton device can be specifically constructed by combining signal control and force feedback limiting, the operation line 41 is driven by bending fingers, the detection unit 7 correspondingly detects the displacement of the operation line, and the hand rehabilitation exoskeleton device can be used in combination with a virtual scene, so that the hand rehabilitation exoskeleton device can be used for carrying out safe and effective rehabilitation training on hands of patients.

The control device provided by the invention can provide good flexibility and adaptability for operation of a user. When the hand joint rehabilitation training device is specifically applied to the rehabilitation field, the hand joint rehabilitation training device can be customized and designed according to the hand joint size of a patient, so that the requirements of rehabilitation training are better met. Through with the split type design of wearing of controlling means, reduced the concentrated atress of palm in rehabilitation training, with some weight dispersion to the arm on, connect two parts through the operating wire 41, improved man-machine interaction's security.

Example 2

The embodiment provides a control method of a virtual hand training control device, which comprises the following steps:

The human hand bending drives the hand sleeve 1 and the displacement unit 4 to move, and a first displacement signal of the displacement unit 4 is obtained;

determining a driving signal of the driving unit 6 based on the first displacement signal;

Acquiring a second displacement signal of the displacement unit 4 under the drive of the drive unit 6;

correcting the driving signal of the driving unit 6 according to the second displacement signal;

the motion gesture of the hand piece 1 bending with the finger is traversed to determine a reaction gesture model of the displacement unit 4 simulated finger bending driven by the driving unit 6.

According to the control method, according to the bending motion gesture of each finger, a reaction gesture model of finger bending can be simulated to obtain a displacement signal of a simulated tendon corresponding to the finger bending angle.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims

1. A virtual hand training control device, comprising:

A glove member (1) adapted to be worn on the palm;

the arm sleeve (2) is suitable for wearing at the arm part, and the arm sleeve (2) and the glove piece (1) are arranged at intervals in a split mode;

at least one operating mechanism; the operating mechanism comprises a positioning unit (3), a displacement unit (4), a driving unit (6) and a detection unit (7);

the glove comprises a glove body, a positioning unit (3), a displacement unit (4), a driving unit (6) and a detection unit (7), wherein the positioning unit (3) is arranged on the glove body (1) close to the back side of the hand, the positioning unit (3) is arranged along the extending direction of fingers of the human body, one end of the displacement unit (4) is connected with the positioning unit (3), the other end of the displacement unit (4) is in transmission connection with the driving unit (6), the driving unit (6) and the detection unit (7) are arranged on the arm suite (2), and the detection unit (7) is used for detecting a first displacement signal generated by the driving unit (6) when the displacement unit (4) is driven by the bending action of the fingers, and a second displacement signal generated by the driving unit (6) is driven by the displacement unit (4);

And a controller electrically connected to the drive unit (6), the controller being electrically connected to the detection unit (7), the controller being configured to collect the first displacement signal and the second displacement signal; determining a driving signal of the driving unit (6) according to the first displacement signal so as to drive the displacement unit (4) to simulate the reaction gesture of finger bending; and determining the displacement of the displacement unit (4) for performing a reaction process according to the second displacement signal so as to correct the driving signal of the driving unit (6).

2. A virtual hand training control arrangement according to claim 1, characterized in that the displacement unit (4) comprises an operating wire (41) and a flexible rack (42) member; the flexible rack (42) is arranged along the extending direction of the positioning unit (3), and the flexible rack (42) and the positioning unit (3) are configured to be adjustable.

3. The virtual hand training control device according to claim 2, wherein the positioning unit (3) comprises a finger cap (31) and a positioning guide (32), the finger cap (31) is movably connected with the glove (1), the finger cap (31) is suitable for being fixedly sleeved on a fingertip part of a human finger, the positioning guide (32) is fixedly sleeved on the glove (1), the positioning guide (32) and the flexible rack (42) are in sliding configuration, the flexible rack (42) is provided with a toothed structure, and the finger cap (31) is provided with a connecting structure corresponding to the toothed structure, so that the finger cap (31) and the flexible rack (42) are adjustably arranged.

4. The virtual hand training control apparatus as claimed in claim 2, further comprising a bracket (8), the bracket (8) being fixedly connected to the arm set (2);

The driving unit (6) comprises a driving piece (61), a rotating member (63) and a supporting member (64), wherein the driving piece (61) is installed on the support (8), the rotating member (63) is arranged on the output side of the driving piece (61), the supporting member (64) is installed on the support (8), one end, far away from the positioning unit (3), of the operation wire (41) is suitable for sliding through the support (8) so as to be fixedly connected with the rotating member (63), and the rotating member (63) is suitable for winding and unwinding the operation wire (41).

5. The virtual hand training control device according to claim 4, characterized in that the driving unit (6) further comprises a rocker arm limiter (62) and a rotation stopper (65), the rocker arm limiter (62) is arranged on one side of the driving unit (61) facing the rotating member (63), the rocker arm limiter (62) and the bracket (8) are relatively fixedly arranged, the rotation stopper (65) is fixedly arranged on one side of the rotating member (63) facing the driving unit (61), and the rocker arm limiter (62) is arranged on a path of the rotation stopper (65) along with the rotating movement of the rotating member (63).

6. A virtual hand training control arrangement as claimed in claim 4, characterized in that the detection unit (7) comprises a potentiometer (71), the potentiometer (71) being fixedly arranged on the support member (64), the detection end of the potentiometer (71) being adapted to detect the angular displacement of the rotating member (63).

7. A virtual hand training control arrangement as claimed in claim 4, characterized in that the drive unit (6) further comprises a reset element provided in an elastic configuration, one end of the reset element being mounted on the support (8), the other end of the reset element being connected to the rotating member (63), the reset element being adapted to effect a reset of the rotating member (63).

8. The virtual hand training control apparatus of claim 7 further comprising a force sensing member mounted on said reset element, said force sensing member being electrically connected to said controller, said force sensing member for sensing a reset force of said reset element.

9. A virtual hand training control arrangement according to claim 2, characterized in that the control arrangement further comprises a connection unit (5), the connection unit (5) comprising a connection limiter (51), a tube (52), a first joint (53) and a second joint (54);

The utility model discloses a glove piece, including gloves piece (1), connecting limiting part (51), body (52), first joint (53), body (52) and second connect (54) in proper order slip wear to locate in the direction of gloves piece (1) to arm external member (2) connect limiting part (51), first joint (53), body (52) and second connect (54) in order, connect limiting part (51) fixed setting, second connect (54) with the installation end of drive unit (6) is fixed to link to each other.

10. A control method of a virtual hand training control device, the control method comprising:

The human finger bends to drive the hand suite (1) and the displacement unit (4) to move, and a first displacement signal of the displacement unit (4) is obtained;

Determining a drive signal of the drive unit (6) on the basis of the first displacement signal;

acquiring a second displacement signal of the displacement unit (4) driven by the driving unit (6);

correcting the driving signal of the driving unit (6) according to the second displacement signal;

traversing the motion gesture of the glove piece (1) bending along with the finger to determine a reaction gesture model of the displacement unit (4) simulated finger bending driven by the driving unit (6).