KR102353978B1 - Hand rehabilitation training apparatus - Google Patents

Abstract

The present invention relates to a hand rehabilitation training apparatus, which forms a channel through which electricity flows therein and is stretchably arranged on a finger, comprising a bending sensing unit sensing bending of a finger and a pinch sensing unit sensing a pinch force of a finger stretch sensor; and a controller configured to receive and collect resistance data sensed by the bending sensing unit and resistance data sensed by the pinch sensing unit, respectively.

Description

Hand rehabilitation training device {HAND REHABILITATION TRAINING APPARATUS}

The present invention relates to a hand rehabilitation training apparatus based on a stretch sensor.

In the case of stroke or Parkinson's disease, various physical changes appear depending on the condition. In particular, in the case of the above disease, the hand is paralyzed and the finger is shriveled.

If the paralysis of the hand and the shriveling of the fingers are continuously left unattended, the muscles or joints gradually harden, causing pain when moving, and even if the nerves are restored, it may interfere with normal activities.

In addition, in addition to the case due to the specific disease described above, there are many cases where the movement of the finger is impaired due to an unexpected accident.

Therefore, in such a case, it is very important to maintain the exercise ability as much as possible by promoting blood circulation and neural communication by rehabilitating the paralyzed or handicapped hand to move continuously.

A prior art for such a finger exercise device is disclosed in Korean Patent No. 10-1541082.

As disclosed, the conventional finger exercise device arranges a finger detection unit for detecting the motion of a joint on each joint of the user, for example, a first joint of a finger located adjacent to the palm and a second joint adjacent to a free end of the finger, and , each finger sensing unit has a configuration in which the corresponding joint of the finger is wrapped and fixed by a fixing string.

However, such a conventional finger exercise device has a problem in that it is not possible to confirm the joint movement of the fingers when the fingers are jointed, but how much force is applied to the joint movement of the fingers.

In addition, the conventional finger exercise device has a problem in that even when the finger is pinched, the pinching motion of the finger can be visually confirmed, but it is not possible to check whether the finger pinching motion is performed by applying a certain amount of force.

Domestic Registered Patent Publication No. 10-1541082

The present invention is to solve the above problems, and an object of the present invention is to provide a hand rehabilitation training apparatus capable of performing rehabilitation training while measuring the joint motion level of the fingers when the fingers are jointed.

Another object of the present invention is to provide a hand rehabilitation training apparatus capable of performing rehabilitation training while measuring a pinch motion level of a finger when a finger is pinched.

An object of the present invention is to form a channel through which electricity flows therein and is stretchably arranged on the finger, a stretch sensor comprising a bending sensing unit sensing the bending of the finger and a pinch sensing unit sensing the pinch force of the finger; and a control unit for receiving and collecting resistance data sensed by the bending sensing unit and resistance data sensed by the pinch sensing unit, respectively, may be achieved by the hand rehabilitation training apparatus.

Here, after the stretch sensor is extended along the back of the finger, it is bent from the tip of the finger toward the root of the finger and may be disposed on the pinch surface of the bottom of the finger.

The pinch sensing unit has a shape that is meandered twice or more, and may be disposed to correspond to the pinch surface of the palm of the finger.

As an embodiment, the bending sensing unit may be disposed along a finger or the like.

As another embodiment, the bending sensing unit has a shape that is bent twice or more in a serpentine, and may be disposed to correspond to each knuckle such as a finger.

It accommodates the pinch sensing unit and may further include a finger cap mounted on a finger tip.

The stretch sensor is inserted into the inside of the finger cap from the back of the finger, wraps around the finger tip from the inside of the finger cap, and is turned toward the root of the finger so that the finger pinch surface is mounted, and then pulled out to the outside of the finger cap It may be coupled to the finger cap.

The pinch sensing unit may further include a pad detachably provided to concentrate the pinch force applied to the pinch sensing unit.

The pad may include a pad body: and a plurality of pressing protrusions protruding from the pad body to transmit a pinch force acting on the pad body to the pinch sensing unit.

It is disposed along the back of the finger, and may further include a sensor guide for aligning the stretch sensor to the back of the finger.

The stretch sensor may include a pair of stretchable sheets stacked on each other; a plurality of channels formed by printing a conductive liquid metal between the pair of elastic sheets and through which electricity flows; and a wire part electrically connected to the plurality of channels.

a back wearing part electrically connected to the stretch sensor and worn on the back of the hand; and a back motion detection sensor disposed on the back of the hand wearing unit to detect motion of the back of the hand, wherein the control unit receives and collects motion data on the back of the hand detected by the motion detection sensor on the back of the hand.

Wrist wearing part worn on the wrist; and a wrist motion sensor disposed on the wrist wearing unit to detect a motion of the wrist, wherein the controller receives and collects wrist motion data detected by the wrist motion sensor.

The back motion sensor and the wrist motion sensor may include any one of an IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor.

According to the present invention, a bending sensing unit for measuring bending of a finger is provided in a stretch sensor that forms a channel through which electricity flows therein and is stretchably arranged on the finger, so that the level of joint movement can be confirmed from the bending sensing unit, to the user It can provide information about joint movement.

In addition, a pinch sensing unit for measuring the pinch force of a finger is provided in the stretch sensor, and the pinch motion level can be checked from the pinch sensing unit, so that pinch motion information can be provided to the user without attaching a separate sensor to the glove.

In addition, by providing the stretch sensor with a bending sensing unit for measuring the bending of the finger and a pinch sensing unit for measuring the pinch force of the finger, the joint motion level and the pinch motion level can be simultaneously measured without adding a sensor, so it is light and convenient for the user , it is possible to provide a rehabilitation glove that is easy to wear.

1 is a perspective view of a hand rehabilitation training apparatus according to an embodiment of the present invention;
2 is an enlarged view showing the arrangement shape of the bending sensing unit in each stretch sensor of FIG. 1;
Figure 3 is an exploded perspective view of the main part of Figure 1;
4 is a cross-sectional view taken along line AA of FIG. 1;
5 is a view showing a state in which the hand rehabilitation training device of FIG. 1 is worn on the hand;
6 is a view showing a state of pinching the thumb and index finger in the hand rehabilitation training apparatus of FIG. 1;
Figure 7 is an enlarged view showing another arrangement shape of the bending sensing unit in each stretch sensor of the hand rehabilitation training apparatus according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully inform those skilled in the art of the scope of the present invention.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of a hand rehabilitation training apparatus according to an embodiment of the present invention is shown.

As shown in FIG. 1 , the hand rehabilitation training apparatus 1 according to an embodiment of the present invention includes a stretch sensor 10 and a control unit 100 .

The stretch sensor 10 forms a circuit through which electricity flows therein, and is stretchably disposed on each finger.

The stretch sensor 10 has a band shape of a certain width and length and is formed by printing a conductive liquid metal between a pair of stretchable sheets 11 that are stacked on each other, and a pair of stretchable sheets 11, and electricity flows through them. It includes a plurality of channels 13 and a wire portion 15 electrically connected to the plurality of channels 13 .

The stretchable sheet 11 is made of a stretchable silicone material, whereby the stretch sensor 10 can respond to various hand sizes of the rehabilitation trainee.

As shown in FIG. 2 , some channels among the plurality of channels 13 may be formed in a curved shape that is repeated meandering along the back of the finger to configure the bending sensing unit 20 for sensing bending of the finger. For example, some channels among the plurality of channels 13 may have a shape that is meandered twice or more. In other words, the plurality of channels 13 may be formed in a meander shape.

The bending sensing unit 20 senses the bending of the finger by extending the length of the bending sensing unit 20 by the knuckle according to the bending motion of the finger.

For example, when a finger is bent, the channel 13 of the bending sensing unit 20 passing through the bent knuckle is lengthened and the cross-sectional area of the channel 13 is reduced, and the resistance of the lengthened channel 13 is increased. will do Accordingly, the control unit 100, which will be described later, calculates a change value between the sensed resistance data in the bent knuckle and the resistance data before bending, so as to measure how much force the bent knuckle is bent. do.

Here, the bending sensing units 20a, 20b, and 20c in each of the stretch sensors 10 may be independently arranged for each joint of the finger as shown in FIG. 7 as another embodiment. In addition, although not shown as another embodiment, the bending sensing unit may not be independently arranged for each joint of the finger, but may be arranged from the root of the finger to the middle bone, or from the root to the tip of the finger.

As described above, the bending sensing units 20a , 20b , and 20c disposed for each joint of each finger may each independently have a shape that is bent twice or more in a meander shape, for example, a meander shape.

The remaining channels of the plurality of channels 13 pass through the back of the finger and are bent from the tip of the finger toward the root of the finger, and are formed to be disposed on the pinch surface of the bottom of the finger. The channel 13 disposed on the pinch surface of the palm of the finger forms a pinch sensing unit 30 for sensing the pinch force of the finger.

The channel 13 constituting the pinch sensing unit 30 may have a meander shape, for example, a meander shape, which is repeated meandering as shown in FIG. 3 , in order to improve resistance sensing. As another embodiment, the channel 13 constituting the pinch sensing unit 30 may be formed in a shape in which one line extends around a point as a center. In other words, the channel 13 may have a vortex shape.

The pinch sensing unit 30 senses the pinch force of the finger by increasing or decreasing the cross-sectional area of the channel 13 of the pinch sensing unit 30 according to the pinch operation of the finger.

For example, when the pinch surface of the fingertip presses the pinch sensing unit 30 of the stretch sensor 10, the cross-sectional area of the channel 13 of the pinch sensing unit 30 increases, and the cross-sectional area of the channel 13 is increased. resistance will decrease. Accordingly, the control unit 100 calculates the change value of the resistance data sensed by the finger performing the pinch operation and the resistance data before the pinch operation, and measures how much pinch force the pinch operation finger performed the pinch operation. there will be

On the other hand, the stretch sensor 10 according to an embodiment of the present invention is branched from the wearing part 70 on the back of the hand to be described later toward each finger, and is disposed along the longitudinal direction of each finger, for example, along the finger of each finger. ,

After the stretch sensor 10 extends along the back of the finger of each finger, it is bent from the tip of the finger toward the root of the finger, and is disposed opposite to the pinch surface of the bottom of the finger.

The stretch sensor 10 positioned on the finger or the like is provided to be stretchable on the sensor guide 40 , and is aligned on the finger or the like by the sensor guide 40 .

The sensor guide 40 may further include a finger holding part 41 and an elastic extension part 45 .

The finger mounting portion 41 is disposed along the finger, etc. to be mounted on the finger, etc., and prevents the stretch sensor 10 from being separated from the finger or the like when the stretch sensor 10 expands and contracts.

The elastic extension part 45 connects the finger holding part 41 and the wrist wearing part 80, and has a meander structure in the shape of a meander that is repeated meandering.

The elastically stretchable part 45 may be elastically deformed in length according to a bending motion of a finger.

As such, by providing the elastic extension portion 45, elastic deformation is facilitated, and a large elastic deformation is generated compared to the applied force, thereby minimizing the resistance of the elastic restoring force to the movement of the finger.

On the other hand, the hand rehabilitation training apparatus 1 according to an embodiment of the present invention may include a finger cap (50).

The finger cap 50 has a thimble shape, accommodates the pinch sensing unit 30 of the stretch sensor 10, and is mounted on the finger tip.

The finger cap 50 is made of a stretchable silicone material, whereby it is easy to wear on the fingers of a rehabilitation trainee, and can respond to various hand sizes.

An insertion hole 51 through which the stretch sensor 10 is inserted into the finger cap 50 is formed in the upper portion of the finger cap 50 .

A draw-out hole 53 through which the stretch sensor 10 inserted into the finger cap 50 is drawn out and fitted to the outside of the finger cap 50 is formed in the lower portion of the finger cap 50 .

The wing portion 10a of the stretch sensor 10 penetrating through the draw-out hole 53 is engaged in the draw-out hole 53 of the finger cap 50, and the stretch sensor 10 is easily removed from the finger cap 50. won't fall out

Accordingly, the stretch sensor 10 is inserted into the inside of the finger cap 50 through the insertion hole 51 of the finger cap 50 from the back of the finger, and wraps the tip of the finger from the inside of the finger cap 50 and wraps the fingertip. After the direction is changed while bending into a 'U' cross-sectional shape toward the root of the finger so that the pinch surface of .

At this time, the bending sensing unit 20 of the stretch sensor 10 is disposed on the back of the finger, and the pinch sensing unit 30 is accommodated in the finger cap 50 and is disposed to face the pinch surface of the palm of the finger.

In this way, by simply connecting the sensor guide 40 and the finger cap 50 by the stretch sensor 10, a separate bonding process or coupling device for fixing the finger cap 50 to the sensor guide 40 is unnecessary. Thus, it is possible to not only facilitate the maintenance of the product, but also reduce the manufacturing cost.

Meanwhile, as shown in FIG. 4 , a pad 60 detachably provided in the pinch sensing unit 30 accommodated in the finger cap 50 may be included.

The pad 60 includes a pad body 61 and a plurality of pressing protrusions 65 as shown in FIG. 3 .

The pad body 61 has a plate shape and is stacked on the pinch sensing unit 30 accommodated in the finger cap 50 .

The plurality of pressing protrusions 65 protrude toward the pinch sensing unit 30 from a plate surface of one side of the pad body 61 facing the pinch sensing unit 30 . The plurality of pressing protrusions 65 concentrate and amplify the pinch force acting on the pad body 61 and transmit it to the pinch sensing unit 30 .

In this way, the finger cap 50 is further provided with a pad 60 to concentrate and amplify the pinch force applied to the pinch sensing unit 30 through the pressing protrusions 65 of the pad 60, and thereby the pinch sensing unit It is possible to more precisely sense the resistance according to the change in the cross-sectional area of the channel 13 of the pinch sensing unit 30 due to the action of the pinch force at ( 30 ).

In addition, the hand rehabilitation training apparatus 1 according to an embodiment of the present invention may include a wearing part 70 on the back of the hand.

The back wearing part 70 has a shape similar to the back of a human hand, and is worn on the back of the user's hand by a fixing means such as a band 71 . More specifically, the fixing means has a ring shape to surround a part of the circumference of the palm. Here, the back wearing part 70 may be formed of a ring-shaped elastic band so that the palm can be inserted.

In addition, the back of the hand wearing part 70 is provided with a motion detection sensor 75 for detecting the motion of the back of the hand. The back of the hand motion detection sensor 75 includes an inertial measurement unit sensor (IMU).

The IMU sensor may be a micro mechanical system (MEMS)-based 9-axis IMU sensor, and the 9-axis IMU sensor includes a 3-axis acceleration sensor, a 3-axis gyroscope sensor, and a 3-axis geomagnetic sensor. Here, instead of the IMU sensor as the back of the hand motion detection sensor 75, a flex sensor, an acceleration sensor, and a gyroscope sensor may be disposed.

And, the back of the hand worn part 70 is connected to the stretch sensor (10).

In addition, the hand rehabilitation training apparatus 1 according to an embodiment of the present invention may include a wrist wearing unit 80 .

The wrist wearing part 80 is worn on the user's wrist by the band 81 .

A wrist motion sensor 85 for detecting a motion of the wrist is provided in the wrist wearing unit 80 . The wrist motion detection sensor 85 includes an IMU sensor (inertial measurement unit sensor).

The IMU sensor may be a micro mechanical system (MEMS)-based 9-axis IMU sensor, and the 9-axis IMU sensor includes a 3-axis acceleration sensor, a 3-axis gyroscope sensor, and a 3-axis geomagnetic sensor.

Therefore, the IMU sensor that detects the movement of the wrist, wrist flexion in the downward direction, wrist extension in the upward direction, wrist flexion in the left direction (Radial flexion), wrist flexion in the right direction ( Ulnar flexion), wrist rotation, etc. can be detected. Here, instead of the IMU sensor as the wrist motion sensor 85 , a flex sensor, an acceleration sensor, and a gyroscope sensor may be disposed.

In addition, the wrist wearing unit 80 has a battery (not shown) as a power supply unit for supplying power to the stretch sensor 10 , the back of the hand motion sensor 75 , the wrist motion sensor 85 , and the control unit 100 . can be embedded

Meanwhile, the wrist worn part 80 and the back of the hand worn part 70 are interconnected by a cable 90 .

The cable 90 is made of an electric wire, and in addition to the function of connecting the stretch sensor 10 and the back of the hand wearing part 70, respectively, the stretch sensor 10 and the back of the hand motion detection sensor 75 supply power, and the stretch sensor It may have a function of transmitting the resistance data sensed in ( 10 ) to the control unit ( 100 ).

The control unit 100 is mounted on a printed circuit board and is provided on the wrist wearing unit 80 .

The control unit 100 is electrically connected to the stretch sensor 10 and the cable 90 of each finger, and the bending sensing unit 20 and the pinch sensing unit 30 of each stretch sensor 10 disposed on each finger. Each received resistance data sensed by the , and collects them.

In addition, the control unit 100 amplifies the resistance data transmitted from each bending sensing unit 20 and each pinch sensing unit 30 , respectively, and compares and examines it with reference resistance data set, and each bending sensing unit 20 and each A resistance change value in the pinch sensing unit 30 is calculated.

In addition, the control unit 100 may be electrically connected to the back of the hand motion sensor 75 and the wrist motion sensor 85 . The control unit 100 includes the back of the hand motion sensor 75 and the wrist motion sensor 85 . ), the detected back hand motion data and wrist motion data may be transmitted.

In addition, the control unit 100 communicates the resistance change value of each bending sensing unit 20 , the resistance change value of each pinch sensing unit 30 , and movement data of the wrist and back through a communication module (not shown). As a terminal, it can be transmitted to a server or a smartphone.

Accordingly, the rehabilitation trainer can visually check his/her hand motions in the finger rehabilitation training process through the screen through the communication terminal, thereby being able to be motivated for the rehabilitation training and to be interested in the rehabilitation training. .

In addition, since each motion data of the wrist and the back of the hand can be acquired through the wrist motion sensor 85 and the back of the hand motion sensor 75, the control unit 100 or the communication terminal determines the relative position and movement between the wearer's hand and the wrist. information can be obtained.

Here, in this embodiment, although it is described that the controller 100 is provided on the wrist worn part 80 , the present invention is not limited thereto, and the controller 100 may be provided on the back of the hand worn part 70 .

With this configuration, a process of rehabilitation training using the hand rehabilitation training apparatus 1 according to an embodiment of the present invention will be described.

First, as shown in FIG. 5 , when the thumb and forefinger are in contact with each other as shown in FIG. 6 to perform a pinch motion in a state of wearing the hand rehabilitation training apparatus according to an embodiment of the present invention, the thumb and index finger Based on the resistance data sensed by the bending sensing unit 20 of each of the arranged stretch sensors 10 and the resistance data sensed by the pinch sensing unit 30 , the thumb and index finger pinch movement in what form, for example, a finger It is possible to check the degree of bending through the control unit 100 .

That is, the controller 100 compares resistance data sensed by each bending sensing unit 20 and each pinch sensing unit 30 with reference resistance data set by each bending sensing unit 20 and each pinch sensing unit 30 . By examining, by calculating the resistance change value in each bending sensing unit 20 and each pinch sensing unit 30, it is possible to check whether the thumb and forefinger pinched by how much pinch force. At the same time, based on the resistance data sensed by each bending sensing unit 20 and each pinch sensing unit 30, it is possible to check the pinch motion state, such as whether the thumb and the index finger are in normal contact or whether the thumb and the index finger are in side contact. there will be

Therefore, the hand rehabilitation training apparatus 1 according to an embodiment of the present invention can perform rehabilitation training while simultaneously measuring the bending degree of the finger and the pinch force of the finger when the finger is pinched.

In addition, in the hand rehabilitation training apparatus 1 according to the present invention, when the back of the hand is exercised in a state where only each finger and wrist are fixed, the back of the hand is moved in any form based on the motion data sensed by the back motion sensor 75 . For example, the degree of bending or twisting the back of the hand can be checked through the control unit 100 .

And, when the wrist is moved while each finger and the back of the hand are fixed, for example, the wrist moves up and down or twists based on the wrist motion data sensed by the wrist motion sensor 85 to see what type of joint movement the wrist takes. It is possible to check the degree to which the control unit 100 is.

In addition, when each finger, the back of the hand, and the wrist are exercised in combination, resistance data sensed by each bending sensing unit 20 and each pinch sensing unit 30 of the stretch sensor 10 disposed on each finger, the back of the hand motion detection sensor Based on the motion data of the wrist and the back of the hand detected by the wrist motion sensor 85 and the wrist motion sensor 85 , it is possible to check the shape of the hand movement through the control unit 100 .

On the other hand, the hand rehabilitation training apparatus 1 according to an embodiment of the present invention is illustrated as having a stretch sensor 10 provided to correspond to each of the thumb, index finger, middle finger, ring finger, and small finger, but is not limited thereto. For example, the stretch sensor 10 may be provided to correspond to one or more of the thumb, index finger, middle finger, ring finger, and small finger.

As described above, according to the present invention, a stretch sensor including a bending sensing unit sensing the bending of the finger and a pinch sensing unit sensing the pinch force of the finger is disposed on the finger to form a channel through which electricity flows therein, and the finger is rehabilitated During training, it is possible to simultaneously measure the degree of bending of the finger and the pinch force of the finger, thereby enabling rehabilitation training.

As mentioned above, although embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can realize that the present invention can be embodied in other specific forms without changing the technical spirit or essential features thereof. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

1: Hand rehabilitation training device
10: stretch sensor
20: bending sensing unit
30: pinch sensing unit
40: sensor guide
50: finger cap
60: pad
61: pad body
65: pressure projection
70: wear part on the back of the hand
75: hand motion detection sensor
80: wrist worn part
85: wrist motion detection sensor
100: control unit

Claims (16)

A stretch sensor that forms a channel through which electricity flows therein and is stretchably arranged on the finger, comprising a bending sensing unit sensing the bending of the finger and a pinch sensing unit sensing the pinch force of the finger;
a control unit receiving and collecting the resistance data sensed by the bending sensing unit and the resistance data sensed by the pinch sensing unit, respectively; and
Accommodating the pinch sensing unit, including a finger cap mounted on a finger tip,
The stretch sensor is inserted into the inside of the finger cap from the back of the finger, wraps around the finger tip from the inside of the finger cap, and is turned toward the root of the finger so that the finger pinch surface is mounted, and then pulled out to the outside of the finger cap Coupled to the finger cap, hand rehabilitation training device. The method of claim 1,
After the stretch sensor is extended in length along the back of the finger, it is bent from the tip of the finger toward the root of the finger and is disposed on the pinch surface of the palm of the hand, a hand rehabilitation training device. 3. The method of claim 2,
The pinch sensing unit has a shape that is meandered twice or more, and is disposed to correspond to the pinch surface of the palm of the hand, a hand rehabilitation training device. The method of claim 1,
The bending sensing unit is disposed along the finger, etc., hand rehabilitation training device. According to claim 1,
The bending sensing unit has a shape that is bent two or more times, and is disposed to correspond to each knuckle such as a finger, a hand rehabilitation training device. delete delete A stretch sensor that forms a channel through which electricity flows therein and is stretchably arranged on the finger, comprising a bending sensing unit sensing the bending of the finger and a pinch sensing unit sensing the pinch force of the finger; and
a control unit for receiving and collecting resistance data sensed by the bending sensing unit and resistance data sensed by the pinch sensing unit, respectively;
Provided in the pinch sensing unit, comprising a pad for concentrating the pinch force applied to the pinch sensing unit, hand rehabilitation training apparatus. 9. The method of claim 8,
The pad is
Pad body: and
Protruding from the pad body, the hand rehabilitation training apparatus comprising a plurality of pressure projections for transmitting a pinch force acting on the pad body to the pinch sensing unit. 3. The method of claim 2,
Arranged along the back of the finger, further comprising a sensor guide for aligning the stretch sensor to the finger, hand rehabilitation training device. According to claim 1,
The stretch sensor is
a pair of elastic sheets laminated to each other;
a plurality of channels formed by printing a conductive liquid metal between the pair of elastic sheets and through which electricity flows; and
Containing a wire part electrically connected to the plurality of channels, hand rehabilitation training device. The method of claim 1,
a back wearing part electrically connected to the stretch sensor and worn on the back of the hand; and
It is disposed on the back of the hand wearing part, further comprising a motion detection sensor on the back of the hand for detecting the motion of the back of the hand,
The control unit receives and collects the motion data of the back of the hand detected by the motion sensor of the back of the hand, a hand rehabilitation training device. 13. The method of claim 12,
Wrist wearing part worn on the wrist; and
It is disposed on the wrist wearing part, further comprising a wrist motion detection sensor for detecting the movement of the wrist,
The control unit receives and collects wrist movement data detected by the wrist movement sensor, a hand rehabilitation training device. 14. The method of claim 13,
The hand motion detection sensor and the wrist motion detection sensor include any one of an IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor, a hand rehabilitation training device. 9. The method of claim 8,
The pad is detachable from the pinch sensing unit, hand rehabilitation training device. 10. The method of claim 9,
The pinch sensing unit has a shape that is bent two or more times,
The plurality of pressure projections concentrate and amplify the pinch force applied to the pinch sensing unit, a hand rehabilitation training device.

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