CN216318756U

CN216318756U - Intelligent glove

Info

Publication number: CN216318756U
Application number: CN202122262387.6U
Authority: CN
Inventors: 李军; 冯晓娟; 谭军
Original assignee: China Assistive Devices And Technology Centre For Persons With Disabilities; China Rehabilitation Research Center
Current assignee: China Assistive Devices And Technology Centre For Persons With Disabilities; China Rehabilitation Research Center
Priority date: 2021-09-17
Filing date: 2021-09-17
Publication date: 2022-04-19
Anticipated expiration: 2031-09-17

Abstract

The utility model discloses an intelligent glove which comprises an arm main body structure, a hand main body structure, a control system, a reset driving system and a bending driving system, wherein the arm main body structure is provided with a handle; the control system, the reset driving system and the bending driving system carry out data transmission through a data flat cable, and the arm main body structure shields and covers the reset driving system and the bending driving system; the reset driving system and the bending driving system are respectively connected with the hand main body structure in series to form a spring pull rope structure, the reset driving system provides power for the straightening reset action of the hand main body structure, and the bending driving system provides power for the forward bending motion of the hand main body structure. The embodiment can solve the problems of high equipment price, poor man-machine interaction safety and incompatibility of rehabilitation training and life assistance in the existing rehabilitation treatment process of hand dysfunction.

Description

Intelligent glove

Technical Field

The utility model relates to the technical field of medical rehabilitation, in particular to an intelligent glove.

Background

At present, the phenomena of continuous decline of the muscle function of fingers or finger weakness caused by various diseases are very common, and the life of people is seriously influenced. In order to facilitate physical rehabilitation treatment of patients, the wearable equipment field and the exercise rehabilitation medical field become research hotspots, so that the daily rehabilitation training requirement can be met, meanwhile, the wearable equipment can be worn with users to play an auxiliary role in schedule life, and the life quality of the patients is greatly improved.

In the process of implementing the utility model, the equipment price is high, the structure is complex and the wearing process is complicated in the rehabilitation process aiming at the hand dysfunction; in addition, the motor is directly connected with the mechanical structure for driving, so that the rigidity is high, and the problem of unsafety of man-machine interaction exists; in addition, the motion form of the equipment can not be well unified with the motion form of the hand of the human body, the wearing discomfort exists, the function is single, the simple opening and closing action is only realized, the rehabilitation effect is poor, the related training data can not be recorded, and the training and the using effect can not be fed back in real time in the training process.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiment of the utility model provides an intelligent glove, which can solve the problems of high equipment price, poor man-machine interaction safety and incompatibility between rehabilitation training and life assistance in the existing rehabilitation treatment process of hand dysfunction.

In order to achieve the above object, an embodiment of the present invention provides an intelligent glove, which includes an arm main structure, a hand main structure, a control system, a reset driving system, and a bending driving system; the control system, the reset driving system and the bending driving system carry out data transmission through a data flat cable, and the arm main body structure shields and covers the reset driving system and the bending driving system; the reset driving system and the bending driving system are respectively connected with the hand main body structure in series to form a spring pull rope structure, the reset driving system provides power for the straightening reset action of the hand main body structure, and the bending driving system provides power for the forward bending motion of the hand main body structure.

Optionally, comprising:

the arm main body structure on be equipped with two-sided elasticity magic subsides for realize covering the shielding of reset drive system and crooked drive system.

Optionally, comprising:

the side of the arm main body structure is provided with an elastic zipper structure for wearing and detaching the intelligent gloves.

Optionally, the hand body structure has 5 finger structures, including a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a little finger structure;

the back of each finger structure is provided with a reset driving braided rope, a bending driving braided rope and at least one guide ring, and the reset driving braided rope, the bending driving braided rope and the finger structure are kept in a fit state under the limiting action of the guide rings; the reset driving braided rope and the bending driving braided rope are respectively connected with a reset driving system and a bending driving system through spring pull rope structures; meanwhile, a bending sensor connected with a control system is arranged on the back of each finger structure.

Optionally, comprising:

the back of each finger structure is provided with at least one heating plate; and a thermistor probe connected with the control system is arranged on the back of the palm structure and used for detecting the temperature of the inner space of the hand main body structure.

Optionally, comprising:

the palm of hand major structure is provided with the vibration massage installation shell structurally, vibration massage installation shell internally mounted has the vibration massage motor.

Optionally, the reset driving system comprises a main driving motor, a sliding platform, an auxiliary driving motor, a lead screw, at least one guide slide bar, a variable-structure rotating wheel disc, a driving connection pressing handle and an output connection rod;

the screw rod is connected with the sliding platform through a threaded screw rod structure, and when the main driving motor drives the screw rod to rotate, the sliding platform slides in parallel under the torsion limit of the guide sliding rod; the guide sliding rod is provided with a sliding bearing, and the sliding bearing is arranged in a guide rod mounting hole at the bottom of the sliding platform;

the auxiliary driving motor is coaxially connected with the variable-structure rotating wheel disc, and then drives the variable-structure rotating wheel disc to rotate, so that the transverse structure radiated around the variable-structure rotating wheel disc is in contact with the pressing handle in the driving connection of the sliding platform, the pressing handle is connected to the groove of the output connecting rod in a downward pressing driving mode, and the output connecting rod is structurally connected with the spring pull rope.

Optionally, comprising:

the drive connection pressing handle is provided with a compression spring at a position close to the middle part, and the root part of the drive connection pressing handle is matched with a through shaft through a rotating shaft.

Optionally, comprising:

the top of the output connecting rod is a semi-arc-shaped groove and is matched with a semi-arc-shaped bulge on the driving connecting pressing handle; meanwhile, a permanent magnet is fixed at the tail part of the output connecting rod and is opposite to the magnetism of the permanent magnet installed in an open slot at the outlet position of the spring pull rope structure.

Optionally, the spring pull rope structure comprises a braided rope, a pull rope spring and a spring fixing buckle; the weaving rope is provided with a rope pulling spring and is fixed through a spring fixing buckle, and the weaving rope has redundant length inside the rope pulling spring.

An embodiment in the above-mentioned utility model has following advantage or beneficial effect: the utility model realizes multifunctional and portable intelligent gloves. Firstly, the utility model adopts a flexible rope driving mode, and the flexible weaving rope simulates a tendon transmission mode to drive fingers to move, so that the glove has an obvious anthropomorphic motion effect, the motion mode of the glove can be well unified with the motion of a human hand, and the glove has wearing comfort, and the flexible transmission mode has driving flexibility and human-computer interaction safety. Secondly, the utility model adopts a main/auxiliary motor matching driving mode, realizes the compatibility of various motion modes of 5 fingers, greatly reduces the production cost, and has the advantages of high motion reliability, small volume, large driving force, light weight, high integration level, simple control and the like. In addition, the utility model adopts the flexible detection sensor to detect the motion state of the fingers, can realize the identification of the motion intention of the fingers of the human body, and controls the positive rotation and the negative rotation of the motor through the controller to achieve the autonomous control of the opening and closing motion of the glove; the flexible detection sensor is tightly connected with the finger stall through the silica gel solution, so that the reading of the sensor has high stability. In addition, the utility model is assisted by the heating and vibration functions to make the exercise rehabilitation process more scientific and comfortable.

Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.

Drawings

The drawings are included to provide a better understanding of the utility model and are not to be construed as unduly limiting the utility model. Wherein:

FIG. 1 is a schematic structural diagram of the assembly components of a smart glove according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a ring finger structure according to an embodiment of the utility model;

3-8 are schematic views of a reset driving system according to an embodiment of the present invention;

FIG. 9 is a schematic view of a spring pull cord configuration according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a control system of a smart glove according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the utility model are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the utility model. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

At least one embodiment of the present invention provides a smart glove that may include an arm body structure 6, a hand body structure 20, a control system 1, a reset drive system 5-1, and a flexion drive system 5-2. The control system 1, the reset driving system 5-1 and the bending driving system 5-2 carry out data transmission through a data flat cable 2, and the arm main body structure 20 shields and covers the reset driving system 5-1 and the bending driving system 5-2; the reset driving system 5-1 provides power for the straightening reset action of the hand main body structure 20, and the bending driving system 5-2 provides power for the positive bending motion of the hand main body structure 20.

It should be noted that spring pull rope structures 13 are respectively connected in series between the return driving system 5-1 and the bending driving system 5-2 and the hand main body structure 20. Therefore, the intelligent gloves provided by the utility model realize flexible elastic operation, can be suitable for being worn by people with different weights, improves the safety and the applicability of human-computer interaction, and is convenient to fold, store and carry.

In a preferred embodiment, in order to cover the reset driving system 5-1 and the bending driving system 5-2 in a shielding manner, the arm main body structure 6 is provided with a double-sided elastic magic tape 3. In addition, the side of the arm main body structure 6 is provided with an elastic zipper structure 4 for wearing and detaching the intelligent gloves.

For some embodiments, the hand body structure 20 may include a palm structure and 5 finger structures connected to the palm structure. Wherein, the 5 finger structures comprise a thumb structure 8, an index finger structure 9, a middle finger structure 10, a ring finger structure 11 and a little finger structure 12.

Preferably, a reset driving braided rope 15, a bending driving braided rope 16 and at least one guide ring 14 are arranged on the back of each finger structure, and the reset driving braided rope 15 and the bending driving braided rope 16 are kept in a fit state with the finger structure under the limiting action of the guide ring. That is, there are 5 restoring driving braided ropes and 5 bending driving braided ropes, respectively installed at the thumb structure 8, the index finger structure 9, the middle finger structure 10, the ring finger structure 11 and the little finger structure 12. And each reset driving braided rope and each bending driving braided rope are respectively connected with a reset driving system 5-1 and a bending driving system 5-2 through a spring pull rope structure 13.

For example, taking the ring finger structure 11 as an example, as shown in fig. 2, the back of the ring finger structure 11 is provided with guide rings 14-1 and 14-2, and the return driving braided rope 15-2 and the bending driving braided rope 16-2 on the back of the ring finger structure 11 are driven and limited and kept in a state of being attached to the ring finger structure 11.

It should be noted that, in order to detect and drive and control the motion of the finger in the bending state, a bending sensor 18 (shown in fig. 2) connected to the control system 1 is further provided on the back of each of the finger structures (the thumb structure 8, the index finger structure 9, the middle finger structure 10, the ring finger structure 11, and the small finger structure 12).

As other preferred embodiments, each finger structure is fitted with at least one heat patch on its back (illustratively, as shown in FIG. 2, ring finger structure 11 is fitted with heat patch 1717-1 and heat patch 17-2 on its back), and preferred heat patch 17 may be connected to control system 1. And a thermistor probe 42 (shown in fig. 2) connected to the control system 1 is provided on the back of the palm structure for detecting the temperature of the inner space of the palm main body structure and transmitting the detection data to the control system 1.

In addition, preferably, the bending sensor 18 is a resistance type bending sensor, and the resistance type bending sensor is embedded in a flexible silicone layer, and the flexible silicone layer is connected and fixed with the finger structure.

In a further embodiment, a vibratory massage mounting housing 7 (shown in fig. 2) is provided on the palm structure of the hand body structure 20, with a vibratory massage motor 19 (shown in fig. 2) mounted therein.

As other embodiments of the utility model, the reset driving system 5-1 and the bending driving system 5-2 of the smart glove have the same driving structure, as shown in FIGS. 3-8, which are schematic structural diagrams of the reset driving system according to embodiments of the utility model. The reset driving system 5-1 may include a main driving motor 27, a sliding platform 28, an auxiliary driving motor 26, a lead screw 34, at least one guide slide bar (e.g., a guide slide bar 33-1 and a guide slide bar 33-2 shown in fig. 7), a variable structure rotary wheel 24, a driving connection pressing handle (e.g., 5 driving connection pressing handles: 25-1, 25-2, 25-3, 25-4, 25-5 shown in fig. 3) and an output connecting rod (e.g., 5 output connecting rods: 23-1, 23-2, 23-3, 23-4, 23-5 shown in fig. 6).

The screw rod 34 is connected with the sliding platform 28 through a threaded screw rod structure, and when the main driving motor 27 drives the screw rod 34 to rotate, the sliding platform 28 slides in parallel under the twisting limit of the guide slide bar 33-1 and the guide slide bar 33-2. Meanwhile, the guide slide bar 33-1 and the guide slide bar 33-2 are respectively mounted with the slide bearing 35-1 and the slide bearing 35-2, and the slide bearing 35-1 and the slide bearing 35-2 are mounted in the guide bar mounting hole at the bottom of the slide table 28.

The auxiliary driving motor 26 is coaxially connected to the variable structure rotating wheel 24, and further drives the variable structure rotating wheel 24 to rotate, so that the lateral structure radiating from the periphery of the variable structure rotating wheel 24 contacts with the driving connection pressing handles (for example, 5 driving connection pressing handles shown in fig. 3: 25-1, 25-2, 25-3, 25-4, and 25-5) inside the sliding platform 28, and the driving connection pressing handles are pressed downwards into the grooves of the output connecting rod (i.e., 5 driving connection pressing handles are pressed downwards, so that the driving connection pressing handles protrude upwards and are respectively pressed into the grooves of 5 output connecting rods), and the output connecting rod is connected to the spring pull rope structure 13.

It should be noted that the lateral structure radiating from the periphery of the variable structure rotary wheel disc 24 may be different in length and may be in contact with the driving connection pressing handles at different numbers of positions. Wherein, the number of the drive connecting pressing handles is 5 and the drive connecting pressing handles are arranged in a row (as shown in figure 5).

It can be seen that the sliding platform 28 is driven by the main driving motor 27 and the auxiliary driving motor 26 in a matching manner to synchronously drive the spring rope pulling structure 13 to move, so as to generate contraction movement, and realize 31 finger combined movements in total, such as single-finger independent driving of five finger structures, matching movement of any two finger structures, matching movement of any three finger structures, matching movement of any four finger structures, full driving of five finger structures, and the like.

In a preferred embodiment, a compression spring is mounted on each drive connection pressure handle near the middle (for example, a compression spring 32 is mounted on the drive connection pressure handle 25-1 near the middle as shown in fig. 5), and the root of the drive connection pressure handle is engaged through the shaft 31 (as shown in fig. 5). Therefore, the driving connection pressing handle can rotate around the rotating shaft 31, and when the transverse structure radiated from the periphery of the variable structure rotating wheel disc 24 is not contacted with the driving connection pressing handle, the driving connection pressing handle is jacked upwards under the action of the compression spring 32, and the state of being separated from the output connecting rod 23 is kept.

In addition, the top of the output connecting rod 23 (5 output connecting rods: 23-1, 23-2, 23-3, 23-4, 23-5 shown in FIG. 6, for example) is a semi-arc shaped groove and mates with a semi-arc shaped protrusion on the drive connection press handle 25 (5 drive connection press handles: 25-1, 25-2, 25-3, 25-4, 25-5 shown in FIG. 3, for example). Meanwhile, permanent magnets 30 (for example, 5 permanent magnets 30-1, 30-2, 30-3, 30-4 and 30-5 shown in fig. 3) are fixed at the tail part of the output connecting rod 23 and are opposite to the magnetism of the permanent magnets installed in the opening grooves at the outlet positions of the spring pull rope structures 13 (for example, 5 spring pull rope structures 13-1, 13-2, 13-3, 13-4 and 13-5 are arranged in fig. 6, permanent magnets 29-1, 29-2, 29-3, 29-4 and 29-5 are installed in the opening grooves at the outlet positions of each spring pull rope structure 13, and the permanent magnets 30-1, 30-2, 30-3, 30-4 and 30-5 fixed at the tail part of the output connecting rod are opposite in magnetism, and when no external force acts, the permanent magnets 29-1, 30-2, 30-4 and 30-5 are fixed at the tail part of the output connecting rod, 29-2, 29-3, 29-4, 29-5 and permanent magnet: 30-1, 30-2, 30-3, 30-4 and 30-5 are respectively adsorbed together. ).

As a preferred embodiment, the spring pull cord structure may include a braided cord, a pull cord spring, and a spring retaining buckle. The weaving rope is provided with a rope pulling spring and is fixed through a spring fixing buckle, and the weaving rope has redundant length inside the rope pulling spring. Illustratively, the present invention has five spring pull cord configurations of the same construction: 13-1, 13-2, 13-3, 13-4, 13-5, take a spring pull rope structure as an example, as shown in fig. 9, the spring pull rope structure includes a braided rope 43 installed with a pull rope spring 22, and both ends of the pull rope spring 22 are respectively fixed by a spring fixing buckle 21-1 and a spring fixing buckle 21-2, the braided rope 43 has a redundant length inside the pull rope spring 22.

It should be noted that the braided rope 43 in the spring pull rope structure (for example, the spring pull rope structures 13-1, 13-2, 13-3, 13-4, 13-5) between the return driving system 5-1 and the hand main body structure 20 may directly extend into the thumb structure 8, the index finger structure 9, the middle finger structure 10, the ring finger structure 11, and the little finger structure 12 as return driving braided ropes. Of course, the return drive system 5-1 may be connected to the return drive braid at the braid 43 in a spring-pull configuration between the hand body structure 20.

Likewise, the braided cords 43 in the spring-pull cord arrangement between the flexion drive system 5-2 and the hand body structure 20 may extend directly into the thumb structure 8, index finger structure 9, middle finger structure 10, ring finger structure 11, and little finger structure 12 as flexion-drive braided cords. Alternatively, the warp drive system 5-2 is connected to the warp drive knitted cord by knitted cord 43 in a spring-pull cord configuration between the hand body structure 20.

It can be seen that when the thumb structure 8, the index finger structure 9, the middle finger structure 10, the ring finger structure 11 and the little finger structure 12 are driven by the bending driving system 5-2 to bend, the reset driving system 5-1 does not act, and the pull rope spring 22 in the spring pull rope structure is pulled; when the bending driving system 5-2 performs the reset action, the thumb structure 8, the index finger structure 9, the middle finger structure 10, the ring finger structure 11 and the little finger structure 12 return to the straightening state under the action of the pull rope spring 22 in the spring pull rope structure, so that the driving movement of the reset driving system under the condition of no driving action is realized.

At least another embodiment of the present invention provides a control system of a smart glove, as shown in fig. 10, the control system 1 mainly includes a touch operation screen 36, a signal processing module 40, a controller 39, a battery 38, a power switch 37 and a driving module 41. In an embodiment, the touch panel 36 may be used for displaying a current motion state and interactively controlling a motion command by a user, the signal processing module 40 may be used for converting detected data of the bending sensor 18 and the temperature-sensitive probe 42, the controller 39 sends a PWM pulse signal according to the converted signal output by the signal processing module 40, and the driving module 41 outputs a voltage signal to the main driving motor 27 and the auxiliary driving motor 26 according to the PWM pulse signal to control a rotational motion of the motors. The battery 38 may be used to power the controller 39 and the driving module 41, signal processing module 40. The battery 38 is connected to the power switch 37 and can be used for power switch control of the entire system.

It is worth noting that the battery 38 can be powered by a 12V lithium battery, which realizes a miniaturized design of the system. In addition, the controller 39 can be fixed on the waist of the human body through a waistband, so that the weight of the hands is reduced, and the flexibility of the hand movement is improved.

As an example, the control system 1 specifically controls the reset driving device 5-1 and the bending driving device 5-2 as follows: the bending sensors 18 arranged on the finger structures can be used as control switches, when the bending sensors 18 detect that the fingers open and close, the detection data are output to the signal processing module 40 of the control mechanism, after the detection data are filtered and amplified by the signal processing module 40, two data of the bending angle and the bending speed of the bending sensors 18 are obtained and output to the controller 39, so that PWM pulse signals are sent to the driving module 41 according to different data intervals, and then the driving module 41 sends voltage signals with different sizes and polarities to the corresponding main driving motor 27 and the corresponding auxiliary driving motor 26 according to the PWM pulse signals, so as to control the rotating speed and the rotating direction of the motors.

When the finger movement control is performed by the bending sensor 18: when the bending speed is positive:

wherein theta is₁Representing the bending angle, theta, at a later moment₀Representing the bending angle at the previous moment, and t represents the sampling time; when the bending angle is continuously increased, the finger bending assisting process is determined, that is, different fingers are controlled according to different bending angles and bending speeds, and different action commands are achieved under the cooperation of the main driving motor 27 and the auxiliary driving motor 26.

When the bending speed is negative:

the bending angle is decreased continuously, and the process of resetting is determined, and the resetting operation is performed under the cooperation of the main drive motor 27 and the auxiliary drive motor 26.

In the embodiment, as the driving principle of each finger structure is the same, the power assisting process is described by taking a ring finger as an example:

the reset driving weaving rope 15-2 penetrates through the back of the finger structure and then is connected with the output connecting rod 23, and the output connecting rod 23 and the driving connecting pressing handle 25 are in a separated state in an initial state.

After the intelligent gloves are worn, the gloves are fixed with the arms through the elastic zipper structures 4 and the double-sided elastic magic tapes 3. By pressing the power switch 37, the output voltage of the battery 38 is supplied to the controller 39 and the driving module 41. When a human hand grabs an object, the fingers perform bending action to drive the bending sensor 18 to generate bending deformation, the deformation of the bending sensor 18 generates increase of internal resistance, the change of the resistance of the bending sensor 18 is filtered and amplified by the signal processing module 40 to obtain two data of bending angle and bending speed of the bending sensor 18 and is sent to the controller 39, the controller 39 sends PWM values corresponding to the bending angle and the bending speed to the driving module 41, the driving module 41 sends required driving voltage to the main driving motor 27 and the auxiliary driving motor 26, matching selection is performed on combinations of different moving fingers through the auxiliary driving motor 26, and the corresponding transverse structures on the variable-structure rotating wheel disc 24 are just pressed on the corresponding driving connection pressing handles 25 by rotating the corresponding angles. When the main driving motor 27 moves, the sliding platform 28 is driven to generate driving displacement, and the corresponding spring pull rope structure 13 is synchronously driven to generate bending driving to the corresponding finger due to the matching connection of the driving connection pressing handle 25 and the output connecting rod 23.

Meanwhile, the driving connection pressing handle 25 which is not contacted with the transverse structure on the variable structure rotating wheel disc 24 is separated from the output connecting rod 23 under the action of the compression spring 32, and is kept in a static state under the action of magnetic force adsorption with the permanent magnet 29 arranged in the opening groove at the outlet position of the spring pull rope structure 13 under the action of the tail permanent magnet 30 of the output connecting rod 23, and meanwhile, fingers are in a non-action state.

As an example, the control system 1 controls the heating of the finger structure as follows:

the control system 1 sends a heating signal to the driving module 41 through the controller 39, so that the heating sheets 17-1 and 17-2 connected with the driving module 41 generate heat under the action of current, and meanwhile, the thermistor probe 42 positioned at the back of the finger structure detects the temperature inside the glove in real time and transmits the detected data to the signal processing module 40 so as to control the temperature.

As an example, the control system 1 controls the vibration massage of the finger structure as follows:

the control system 1 sends a vibration signal to the driving module 41 through the controller 39, so that the vibration massage motor 19 connected with the driving module 41 generates vibration under the action of driving voltage, and the control of the vibration strength is realized through the magnitude of the output voltage of the driving module 41.

The above-described embodiments should not be construed as limiting the scope of the utility model. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent glove is characterized by comprising an arm main body structure, a hand main body structure, a control system, a reset driving system and a bending driving system;

the control system, the reset driving system and the bending driving system carry out data transmission through a data flat cable, and the arm main body structure shields and covers the reset driving system and the bending driving system; the reset driving system and the bending driving system are respectively connected with the hand main body structure in series to form a spring pull rope structure, the reset driving system provides power for the straightening reset action of the hand main body structure, and the bending driving system provides power for the forward bending motion of the hand main body structure.

2. The smart glove of claim 1, comprising:

3. The smart glove of claim 1, comprising:

4. The smart glove of claim 1 wherein the hand body structure has 5 finger structures including a thumb structure, an index finger structure, a middle finger structure, a ring finger structure, and a pinky finger structure;

5. The smart glove of claim 4, comprising:

6. The smart glove of claim 4, comprising:

7. The intelligent glove according to claim 1, wherein the reset driving system comprises a main driving motor, a sliding platform, an auxiliary driving motor, a lead screw, at least one guide slide bar, a variable structure rotating wheel disc, a driving connection pressing handle and an output connection rod;

8. The smart glove of claim 7, comprising:

9. The smart glove of claim 7, comprising:

10. The smart glove of any one of claims 1 to 9 wherein the spring pull cord structure comprises a knitted cord, a pull cord spring, and a spring retaining buckle;

the weaving rope is provided with a rope pulling spring and is fixed through a spring fixing buckle, and the weaving rope has redundant length inside the rope pulling spring.