LU101802B1 - An instrument and method for testing and analyzing the function of precise control of digit forces during grasping based on multi-deflectional torque effects - Google Patents
An instrument and method for testing and analyzing the function of precise control of digit forces during grasping based on multi-deflectional torque effects Download PDFInfo
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- LU101802B1 LU101802B1 LU101802A LU101802A LU101802B1 LU 101802 B1 LU101802 B1 LU 101802B1 LU 101802 A LU101802 A LU 101802A LU 101802 A LU101802 A LU 101802A LU 101802 B1 LU101802 B1 LU 101802B1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
- A61B5/225—Measuring muscular strength of the fingers, e.g. by monitoring hand-grip force
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
Abstract
The present disclosure discloses a multi-finger grasping function test analyzer and method based on multi-directional stable deflection torques, which can accurately detect and quantitatively assess the grasping function of all five fingers participating simultaneously. The test analyzer comprises a test device and a processor; the test device is configured to measure multi-directional three-dimensional forces and three-dimensional torques during the grasping process of subject's fingers; and the processor is configured to acquire the multi-directional three-dimensional force and three-dimensional torque data of the fingers measured by the test device to form multiple three-dimensional force and three-dimensional torque vector time series, perform multi-scale sample entropy analysis on the multiple three-dimensional force and three-dimensional torque vector time series to obtain dynamic coupling complexity values of multi-time scales, and calculate an indicator of dynamic coordination between the fingers.
Description
| LU101802 | AN INSTRUMENT AND METHOD FOR TESTING AND ANALYZING THE | FUNCTION OF PRECISE CONTROL OF DIGIT FORCES DURING | GRASPING BASED ON MULTI-DEFLECTIONAL TORQUE EFFECTS | 5 Field of the Invention | The present disclosure relates to the field of hand grasping function tests, in particular [ to a multi-finger grasping function test analyzer and method based on | multi-directional stable deflection torques. | 10 Background of the Invention The hand is one of the most precise and distinctive organs in the human body, and one of the three important organs that make people highly intelligent.
The main function of the hand is to grip and manipulate objects.
Accurate test on the grasping function of the hand is an important technical requirement in the fields of neurophysiology research, clinical pathology test, health screening, disease prevention, etc. | The generalized hand grasping function mainly includes “hand grip force” and “hand | grasping control”, the hand grip force is a mechanical measurement of the grasping function, and the hand graspingcontrol is a physiological evaluation on fine motor control of fingers.
The inventors discovered in the research and development process that the existing form of evaluation on the fine motor control of fingers is mainly | doctors’ subjective diagnosis and analysis while subjects complete specified tasks and fill out scales to draw conclusions, for example, the Wolf motor function test is mainly used to evaluate the rehabilitation status of the motor function of the hemiplegic upper
| LU101802 | limbs, but the method has a narrow scope of use, and is limited to patients with mild | to moderate stroke; at the same time, there are too many items on the scales, the | evaluation time is long, whether the deletion of some items therein can maintain high | reliability and validity remains to be further studied, the method of scoring functional | 5 abilities by observing the subjects’ completion is subjective, and different doctors may | get different results, so quantitative and accurate evaluation cannot be achieved.
| Summary of the Invention | In order to overcome the above shortcomings of the prior art, the present disclosure | 10 provides a multi-finger grasping function test analyzer and method based on | multi-directional stable deflection torques, which can accurately detect and | quantitatively assess the grasping function of all five fingers participating | simultaneously. The technical solution of a multi-finger grasping function test analyzer based on | 15 multi-directional stable deflection torques provided by one aspect of the present | disclosure is: | A multi-finger grasping function test analyzer based on multi-directional stable | deflection torques includes a test device and a processor; | The test device is configured to measure multi-directional three-dimensional forces and three-dimensional torques during the grasping process of subject's fingers; | The processor is configured to acquire the multi-directional three-dimensional forces | and three-dimensional torques of the fingers measured by the test device to form | multiple three-dimensional force and three-dimensional torque vector time series, | perform multi-scale sample entropy analysis on the multiple three-dimensional force
| LU101802 | and three-dimensional torque vector time series to obtain dynamic coupling | complexity values of multi-time scales, and calculate an indicator of dynamic | coordination between the fingers.
| Further, the test device includes a cylindrical base, a cylindrical outer cup disposed on | 5 the base, a cylindrical inner cup inside the outer cup, and a top cover disposed on the | top of the outer cup.
| Further, the inner bottom of the base is provided with eight equidistant position | markers on the circumference with the center point of the base as a center line.
| Further, the outer cup includes a semicircular first contact piece and a semicircular | 10 second contact piece disposed oppositely, and the second contact piece consists of | four arc contact pieces not connected to each other.
| Further, a connecting piece is circumferentially laid on the outer side wall of the inner | cup, a six-dimensional force/ torque sensor for testing the force and torque of the | thumb is connected between the connecting piece and the first contact piece, and a | 15 six-dimensional force/ torque sensor for testing the force and torque of the index finger, the middle finger, the ring finger or the little finger is connected between the | connecting piece and each arc contact piece.
| Further, the processor includes a data acquisition module, a multi-scale sample | entropy analysis module, and a calculation module for an indicator of dynamic | 20 coordination between fingers; wherein: | The data acquisition module is configured to acquire the multi-directional | three-dimensional forces and three-dimensional torques of the five fingers measured | by the test device, and calculate coordinates of fingertip pressure center points to form | five three-dimensional force and three-dimensional torque vector time series;
| LU101802 | The multi-scale sample entropy analysis module is configured to coarsely grain the | five three-dimensional force and three-dimensional torque vector time series acquired | by the data acquisition module to obtain a new time series; construct composite delay | vectors using the five three-dimensional force and three-dimensional torque vector | 5 time series, embedded dimension vectors and time delay vectors; set the distance | between any two composite delay vectors as the maximum distance between the | corresponding elements of the two vectors, and a distance threshold; calculate the | number and frequency of distances between any two composite delay vectors smaller | than or equal to the distance threshold; expand the dimensions of the time delay | 10 vectors, and construct new composite delay vectors again; calculate the number and | frequency of distances between any two new composite delay vectors smaller than or | equal to the distance threshold; calculate a logarithm of the ratio of the two | frequencies to obtain a multivariate sample entropy; repeat the calculation to obtain | multiple multivariate sample entropies; draw a relationship curve between multi-time | 15 scales and multivariate sample entropies, and calculate the area under the multivariate | sample entropy curve to obtain dynamic coupling complexity values of multi-time | scales: The calculation module for an indicator of dynamic coordination between fingers is | y g configured to calculate the differences between the dynamic coupling complexity | 20 values of multi-time scales and the standard deviation of multivariate sample | entropies to obtain the indicator of dynamic coordination between fingers.
| The technical solution of a multi-finger grasping function test and analysis method | based on multi-directional stable deflection torques provided by one aspect of the | present disclosure is:
| LU101802 | A multi-finger grasping function test and analysis method based on multi-directional | stable deflection torques includes the following steps: | measuring multi-directional three-dimensional force and three-dimensional torque | data generated when subject's five fingers grip the test device to form five | 5 three-dimensional force and three-dimensional torque vector time series; | performing multi-scale sample entropy analysis on the five three-dimensional force | and three-dimensional torque vector time series to obtain dynamic coupling | complexity values of multi-time scales; and | calculating an indicator of dynamic coordination between fingers by using the | 10 dynamic coupling complexity values of multi-time scales.
| Further,the step of measuring multi-directional three-dimensional force and | three-dimensional torque data generated when subject's five fingers grip the test | device includes: | placing rated weights at a position marker in the base of the test device; | 15 grasping, by the subject, the outer cup of the test device with five fingers in a natural ; grasping posture, lifting the test device steadily at a natural speed to a specified height, | then doing a drinking action, and holding the test device up for 20 seconds to produce | a deflection torque in a certain direction; | putting back, by the subject, the test devicesteadily after receiving an end signal, | 20 recording three-dimensional force and three-dimensional torque data generated during | the grasping process, and calculating coordinates of fingertip pressure center points; | and | placing the rated weights at another position marker in the base of the test device, and | repeating the above steps until obtaining three-dimensional force and
| LU101802 | three-dimensional torque data of the five fingers in eight directions.
| Further, the step of performing multi-scale sample entropy analysis on the five | three-dimensional force and three-dimensional torque vector time series includes: | coarsely graining the five three-dimensional force and three-dimensional torque | 5 vector time series to obtain a new time series; | constructing composite delay vectors using the five three-dimensional force and | three-dimensional torque vector time series, embedded dimension vectors and time | delay vectors; | setting the distance between any two composite delay vectors as the maximum | 10 distance between the corresponding elements of the two vectors, and a distance | threshold; | calculating the number and frequency of distances between any two composite delay | vectors smaller than or equal to the distance threshold; | expanding the dimensions of the time delay vectors, and constructing new composite | 15 delay vectors again; | calculating the number and frequency of distances between any two new composite | delay vectors smaller than or equal to the distance threshold; | calculating a logarithm of the ratio of the two frequencies to obtain a multivariate | sample entropy; | 20 repeating the above steps to obtain multiple multivariate sample entropies; and | drawing a relationship curve between multi-time scales and multivariate sample | entropies, and calculating the area under the multivariate sample entropy curve to | obtain dynamic coupling complexity values of multi-time scales. | Further, the calculation method of the indicator of dynamic coordination between
| LU101802 | fingers is: | calculating the differences between the dynamic coupling complexity values of | multi-time scales and the standard deviation of multivariate sample entropies to obtain _ | the indicator of dynamic coordination between fingers.
|| 5 Through the above technical solutions, the beneficial effects of the present disclosure are: | (1) The present disclosure can provide stable deflection torques in different directions, | and accurately measure three-dimensional forces and three-dimensional torques of | fingertips and real-time signals of fingertip pressure center points in the grasping | 10 process of fingers; at the same time, the analyzer can perform multi-scale sample | entropy analysis on each signal to obtain dynamic coupling complexity values _ reflecting multi-time scales of each signal, calculate dynamic coordination between . the fingers, and then obtain an indicator reflecting the motion sensing function of the | hand.
(2) The present disclosure can be used to accurately assess the hand's ability to sense | and control the stable deflection torque of an object during grasping, and has | important application value in the fields of neurophysiology test, development | evaluation of the nervous system, quantitative evaluation of the hand function | rehabilitation progress monitoring, etc.
| 20 (3) Based on the principle of ergonomics and daily behavioral analysis, the test | analyzer is designed as a water cup and provided with five six-dimensional force/ | torque sensors therein, wherein the sensor at the thumb is opposite to the sensors at the remaining four fingers, and the distribution of the sensors is in accordance with the placement of fingers when the hand grips an object.
| LU101802 | (4) A hollow base is designed at the lower part of the test analyzer, and rated weights | can be added to the center of the base and eight equidistant positions on the | circumference centered on the base to produce deflection torques; the weights are | hidden in a base box, and when the weights are fixed in the center of the base, no | 5 additional deflection torque is produced; and when the weights are fixed at the eight | positions on the circumference of the base, stable deflection torques which are in È different directions and whose amplitudes do not vary with time will be produced.
| Brief Description of the Drawings || 10 The accompanying drawings constituting a part of the present disclosure are intended | to provide a further understanding of the present disclosure, and the illustrative . embodiments of the present disclosure and the descriptions thereof are intended to | interpret the present disclosure and do not constitute improper limitations to the | present disclosure.
| 15 Fig. 1 is a schematic diagram of an external structure of a test device of a multi-finger | grasping function test analyzer in Embodiment 1; | Fig. 2 is a schematic diagram of an internal structure of the test device of the | multi-finger grasping function test analyzer in Embodiment 1; | Fig. 3 is a perspective view of the test device of the multi-finger grasping function test | , 20 analyzer in Embodiment 1; | Fig. 4 is a schematic structural diagram of a base of the test device of the multi-finger | grasping function test analyzer in Embodiment 1; | Fig. 5 is a top view of the base on which rated weights are placed in Embodiment 1; | Fig. 6 is a flowchart of a method for measuring three-dimensional force and
| three-dimensional torque data in Embodiment 2.
| Detailed Description of Embodiments | The present disclosure will be further illustrated below in conjunction with the | 5 accompanying drawings and embodiments.
| It should be noted that the following detailed descriptions are exemplary and are | intended to provide further descriptions of the present disclosure. All technical and | scientific terms used herein have the same meaning as commonly understood by those | of ordinary skill in the technical filed to which the present disclosure belongs, unless | 10 otherwise indicated.
| It should be noted that the terms used here are merely used for describing specific | embodiments, but are not intended to limit the exemplary embodiments of the present | application. As used herein, unless otherwise clearly stated in the context, singular | forms are also intended to include plural forms. In addition, it should also be | 15 understood that when the terms “comprise” and/or “include” are used in the | description, it indicates the presence of features, steps, operations, devices, / components, and/or combinations thereof.
| Embodiment 1 : This embodiment provides a multi-finger grasping function test analyzer based on | 20 multi-directional stable deflection torques. The test analyzer includes a test device and | a processor, and can provide stable deflection torques in different directions and | accurately measure three-dimensional forces and three-dimensional torques of | fingertips and real-time coordinates of fingertip pressure center points in the grasping | process of fingers. At the same time, the analyzer can perform multi-scale sample
| entropy analysis on each signal to obtain dynamic coupling complexity values | reflecting multi-time scales of each signal, thereby obtaining an indicator of dynamic | coordination between the fingers.
| In order to enable those skilled in the art to better understand the technical solution of | 5 the present application, the technical solution of the present application will be | described in detail below.
| Referring to Fig. 1, Fig. 2 and Fig. 3, the test device includes a cylindrical base 11, a | cylindrical outer cup disposed on the base, a cylindrical inner cup 2 inside the outer | cup, and a top cover 1 disposed on the top of the outer cup.
| 10 Specifically, the outer cup includes a semicircular first contact piece 10 and a | semicircular second contact piece disposed oppositely, and the second contact piece | consists of four arc contact pieces not connected to each other, including a first arc | contact piece 9, a second arc contact piece 14, a third arc contact piece 15 and a fourth | arc contact piece 16 from top to bottom.
| 15 The middle part of the inner cup 2 is hollow and can contain fluid.A connecting piece | 3 is circumferentially laid on the outer side wall of the inner cup 2, a first | six-dimensional force/ torque sensor 4 for testing the force and torque of the thumb is | connected between the connecting piece 3 and the first contact piece 10, a second | six-dimensional force/ torque sensor 5 for testing the force and torque of the index | 20 finger is connected between the connecting piece 3 and the first arc contact piece 9, a | third six-dimensional force/ torque sensor 6 for testing the force and torque of the | middle finger is connected between the connecting piece 3 and the second arc contact | piece 14, a fourth six-dimensional force/ torque sensor 7 for testing the force and | torque of the ring finger is connected between the connecting piece 3 and the third arc
| contact piece 15, and a fifth six-dimensional force/ torque sensor 8 for testing the | force and torque of the little finger is connected between the connecting piece 3 and | the fourth arc contact piece 16.
| In this embodiment, the inside of the base 11 is hollow, and a storage cavity 12 for | 5 receiving weights 13 is also provided in the base 11.
| Referring to Fig. 4, the inner bottom of the base 11 is provided with eight equidistant | position markers on the circumference with the center point of the base as a center | line, and a weight is placed at each position marker to generate a stable deflection | torque in a certain direction.
| 10 The processor is configured to acquire multi-directional three-dimensional forces and | three-dimensional torques generated when subject's five fingers grip the test analyzer | and measured by the test device to form multi-directional three-dimensional force and | three-dimensional torque vector time series, perform multi-scale sample entropy | analysis on the multi-directional three-dimensional force and three-dimensional torque vector time series to obtain dynamic coupling complexity values of multi-time | scales, and calculate an indicator of dynamic coordination between the fingers.
| Specifically, the processor includes a data acquisition module, a multi-scale sample | entropy analysis module, and a calculation module for an indicator of dynamic | coordination between fingers; wherein: | 20 The data acquisition module is configured to acquire multi-directional | three-dimensional force and three-dimensional torque vector time series generated | when subject's five fingers grip the test analyzer.
| The multi-scale sample entropy analysis module is specifically configured to: | coarsely grain the five time series i Lok 512.444 D acquired by the data
| acquisition module respectively to obtain a new time series Yes ; | construct composite delay vectors n( ) using five time series vectors, | embedded dimension vectors and time delay vectors, where M is a set of real | numbers; | 5 define the distance between any two composite delay vectors “ ”\/and “m as | the maximum distance between the corresponding elements of the two vectors; | . . x, (i) P | calculate, for a given composite delay vector “7 and threshold r, the number ~¢ | of distances between any two composite delay vectors and “”“/smaller | than or equal to the threshold r, and calculate the frequency of occurrence of | 10 the distances between any two composite delay vectors and “m smaller than or equal to the threshold r; | expand the dimensions of the multivariate delay vectors from m to m+1, wherein the | vector M includes p elements, so there are p implementation methods, that is, | = [My 50000005 Mp 50x00 00 M = — .
| MN, ‚My, ML k=12,......,p : construct px(N-n) mixed | X ld) ER ain atthie Hi | 15 delay vectors “+! again at this time; | 0 ] repeat the previous steps, and calculate the number i of | dx, 0x, (Gr ji B™(r | [Xa Eh Kn GS 75] and the frequency () of occurrence; | calculate, for the given threshold r, a multi-scale multivariate sample entropy (MMSE) | using the frequency ( ) and the frequency ~7 ( ), | 20 repeat the calculation to obtain multiple multivariate sample entropies; and
| draw a relationship curve between multi-time scales and multivariate sample entropies | by using the obtained multiple multivariate sample entropies, and calculate the area | under the multivariate sample entropy curve to characterize dynamic coupling | complexities of multi-time scales.
| > The calculation module for an indicator of dynamic coordination between fingers is | configured to calculate the differences between the dynamic coupling complexity | values of multi-time scales and the standard deviation of multivariate sample | entropies to obtain the indicator of dynamic coordination between fingers, and | quantify and assess the precise grasping function of the hand through the indicator PI | 10 of dynamic coordination between fingers, wherein the grasping of the hand is more | precise if the indicator PI of dynamic coordination between fingers is larger, and | worse on the contrary.
| The multi-finger grasping function test analyzer proposed in this embodiment is based | on the principle of ergonomics and daily behavioral analysis, the test analyzer is | 15 designed as a water cup and provided with five six-dimensional force/ torque sensors | therein, wherein the sensor at the thumb is opposite to the sensors at the remaining | four fingers, and the distribution of the sensors is in accordance with the placement of | fingers when the hand grips an object.
; In the multi-finger grasping function test analyzer proposed in this embodiment, a | 20 hollow base is designed at the lower part of the test analyzer, and rated weights can be | added to the center of the base and eight equidistant positions on the circumference | centered on the base to produce deflection torques; the weights are hidden in a base | box, and when the weights are fixed in the center of the base, no additional deflection | torque is produced; and when the weights are fixed at the eight positions on the
| 14 | LU101802 | circumference of the base, stable deflection torques which are in different directions | and whose amplitudes do not vary with time will be produced.
| Embodiment 2 | This embodiment provides a multi-finger grasping function test and analysis method | 5 based on multi-directional stable deflection torques, which can accurately measure | three-dimensional forces and three-dimensional torques of fingertips and real-time | coordinates of fingertip pressure center points in the grasping process of fingers, | perform multi-scale sample entropy analysis on each signal to obtain dynamic | coupling complexity values reflecting multi-time scales of each signal, and then | 10 calculate an indicator of dynamic coordination between the fingers.
| Specifically, the method includes the following steps: ) S101, multi-directional three-dimensional force and three-dimensional torque data | generated when subject's five fingers grip the test analyzer is measured.
| Referring to Fig. 6, the step of acquiring force and torque signals generated when | 15 subject's five fingers grip the test analyzer includes: | S1011, rated weights are placed at a specified position in the base.
| S1012, the subject grips the test analyzer with five fingers in a natural grasping | posture, lifts the test analyzer steadily at a natural speed to a specified height, then does a drinking action, and holds the test analyzer up for 20 seconds to produce a | 20 deflection torque in a certain direction.
| Specifically, the rated weights are placed at a specified position in the base to simulate | the generation of a deflection torque in a certain direction. As shown in Fig. 5(a), the | weights are placed in the middle of the base, and no deflection torque is produced in | this state. In Fig. 5(b)-(i), the weights are placed at eight equidistant positions on thecircumference centered on the center point of the base, and the eight states | correspondingly produce eight stable deflection torques which are in different | directions and whose amplitudes do not vary with time, that is, positive and negative ( deflection torques around the crown axis, sagittal axis and diagonal axis. | 51013, after an end signal is received, the subject puts back the test analyzersteadily, | force and torque signals generated during the graspingprocess are recorded, real-time | coordinates of fingertip pressure center points are calculated, and the obtained data is | as follows: | FOROEOTOT OL OP OP, (1) | Where, k=12,3,4,5 . Fa) , # ®) , and Fa) are three-dimensional force vector | time series of the five fingers in "7 directions, (1) , À ( ) and 7x (0) are | three-dimensional torque vector time series of the five fingers, and a (1) and x) | are coordinates of fingertip pressure center points. | Specifically, the calculation method of the real-time coordinates of the fingertip | pressure center points 1s: | P,()=-T,0)/F,0 . P,()=-T,()/F,0) Where, Fe (0) is a three-dimensional force vector time series of the five fingers in the | z direction, and = ), #7 and ** are torque vector time series o | fingers in the »Y directions. | i her specified position in the base, and steps | S1014, the rated weights are placed at anot p p |
| LU101802 | 1012-1013 are repeated until three-dimensional force and three-dimensional torque | signals of the five fingers in eight directions are obtained, thus forming five | three-dimensional force and three-dimensional torque vector time series.
| S102, multi-scale sample entropy analysis is performed on the obtained five | 5 three-dimensional force and three-dimensional torque vector time series to obtain | dynamic coupling complexity values of multi-time scales.
| Specifically, the specific implementation of step 102 is as follows: | Mid FT 5 P represents the five time series obtained in step 101. N is the | number of samples, that is, the length of the time series, and p is the number of . 10 variates. Since the data of five fingers is recorded, 7 5 The time scale is defined as | € . The time series are coarsely grained respectively to obtain a new time series ”*. | The expression of “%/ is: | Vis =p Luis j-)en Fd 2) | Where ë . A composite delay vector “m is | constructed, where i f real numb i Xo) is: , sa set of real numbers, and the expression of “»\/ is: | xX, (i ) [x > Xen M rem = De, > %2,05 X20, > | ....... X i+(my~1)r, >X pi? nit, 9e X p iam, -1e, 1 | M=[m m,,......m_JleR? . . 15 Where [m,m2, Ml is an embedded dimension vector, | PP ‚Fol is a time delay =— vector, k=l RE | i=L2,......,N—mn=max(M)xmax(r) | The distance between any two vectors “”\7 and “m J) is defined as the
| LU101802 | he two vectors, tha | orresponding A imum distance X |} | maxim {| x01 J+ | ),X,(j)]=max,, mn | i of | number | ; Id r, the x (i threshold r, | ite delay is | given compos cyof occurrence | For a d the frequency | PED. lculated, an | Xl STj#i 5 cale | calculate 1 P | 5 Defin 1 B”(r) À Br (r)=—— Non panded from m . . 2) are ex | ctors in equ . ivariate delay ve tation | f the multivariate p implementa | 1 . re | The dimens lements, so . includes p e à in the ( | ein . || m+1, wher k=12,..op à to M | my,.... P-, à at 1s, se | methods, £ + d again at this time. | (i) ER are constructed ag | site delay vecto dix, (x, . compo Qi of m+] | jous steps are repea | ious step d: | 10 The prev ce is calculated: . curre | d the frequency of oc (6) . d, an | B, (N-n | Defin 1 Lo Br) | Br N —n) | p be | MSampleEn can Ha | | ivariate sample the multi | hold r, N . the giv | Finally, for . d as: | expressed as:
LU Bm (r ), 7 . | N) = —In[ B"(r) le entropie leEn(M, Itivaria calesare | ulti h sign | e es ies.
| hip curve b lexity valu le entropie is drawn, | lation ing comp iate sam tropi Lo r 1 art le | Dynamic ges of m Itivariate sa ly through | n. ch d mu itatively (| draw ing the an lita | nalyz ime sca judged q ble as | ined by a tin Mes in sta | obtained by cen multi ignals are j or remain | betw iple si case nee | the curve of multip opies incr d a long-r Lo € tie en i : | mp iate samp lex | 1c varia © | the dynam he multivari dynamic | 5 e. If t range terize | the curv a long charac | d of icates à to |, tren it indic late | lation. ivariate les: | | rrela ltiva ime sca | der t f multi mpleEn, | e e = iment, | amis coup Co th ies at | dyn 3 le is trop Ll MM max ivariate | le, the ltiv | se | cale i En,, a one | ere S mpleEn, fated by | Enya ngers . Samp tween f2s rdi inatio he scales namic ¢ time sca. coordi | e | | indic lues ° |] ic coupling ethod 0 (10) | amic lation m | € ifically, ari © ecifically. n ate samp | 15: “oa |] fingers Anes he mu _ tween I= ft | be P lation 0 dard | stan | rp . Eng | mpleEn, tropies. 17 on . 2 an
LU101802 |
The precise grasping function of the hand is quantified and assessed through the | indicator PI of dynamic coordination between fingers, wherein the grasping of the |hand is more precise if the indicator PI of dynamic coordination between fingers is | larger, and worse on the contrary. |
The multi-finger grasping function test and analysis method based on : multi-directional stable deflection torques proposed in this embodiment realizes | functional assessment on precise grasping of the hand and precise quantitative ; assessment on the degrees of functional impairment and rehabilitation of the hand, |and has important application value.
This method calculates mutual complexities |between multi-channel signals through multi-scale multivariate sample entropies, and | assesses the precise grasping function of the hand. : Although the specific embodiments of the present disclosure are described above in | combination with the accompanying drawing, the protection scope of the present | disclosure is not limited thereto.
It should be understood by those skilled in the art that |various modifications or variations could be made by those skilled in the art based on : the technical solution of the present disclosure without any creative effort, and these | modifications or variations shall fall into the protection scope of the present | disclosure. :
Claims (10)
1. À multi-finger grasping function test analyzer based on multi-directional stable | deflection torques, comprising a test device and a processor; wherein: | the test device is configured to measure multi-directional three-dimensional force and | three-dimensional torque data during the grasping process of subject's fingers; and | the processor is configured to acquire the multi-directional three-dimensional force | and three-dimensional torque data of the fingers measured by the test device to form | multiple three-dimensional force and three-dimensional torque vector time series, | perform multi-scale sample entropy analysis on the multiple three-dimensional force | and three-dimensional torque vector time series to obtain dynamic coupling | complexity values of multi-time scales, and calculate an indicator of dynamic | coordination between the fingers. |
2. The multi-finger grasping function test analyzer based on multi-directional stable | deflection torques according to claim 1, wherein the test device comprises a cylindrical base, a cylindrical outer cup disposed on the base, a cylindrical inner cup | inside the outer cup, and a top cover disposed on the top of the outer cup. .
3. The multi-finger grasping function test analyzer based on multi-directional stable deflection torques according to claim 2, wherein the inner bottom of the base is | provided with eight equidistant position markers on the circumference with the center | point of the base as a center line. |
4. The multi-finger grasping function test analyzer based on multi-directional stable | deflection torques according to claim 2, wherein the outer cup comprises a | semicircular first contact piece and a semicircular second contact piece disposed . oppositely, and the second contact piece consists of four arc contact pieces not | connected to each other. |
5. The multi-finger grasping function test analyzer based on multi-directional stable | deflection torques according to claim 2, wherein a connecting piece is | circumferentially laid on the outer side wall of the inner cup, a six-dimensional force/ |m 10 21 LU101802 torque sensor for testing the force and torque of the thumb is connected between the connecting piece and the first contact piece, and a six-dimensional force/ torque | sensor for testing the force and torque of the index finger, the middle finger, the ring | finger or the little finger is connected between the connecting piece and each arc | contact piece. |
6. The multi-finger grasping function test analyzer based on multi-directional stable | deflection torques according to claim 1, wherein the processor comprises a data | acquisition module, a multi-scale sample entropy analysis module, and a calculation | module for an indicator of dynamic coordination between fingers; wherein: | the data acquisition module is configured to acquire the multi-directional | three-dimensional forces and three-dimensional torques of the five fingers measured | by the test device, and calculate coordinates of fingertip pressure center points to form | five three-dimensional force and three-dimensional torque vector time series; . the multi-scale sample entropy analysis module is configured to coarsely grain the | five three-dimensional force and three-dimensional torque vector time series acquired | by the data acquisition module to obtain a new time series; construct composite delay | vectors using the five three-dimensional force and three-dimensional torque vector | time series, embedded dimension vectors and time delay vectors; set the distance | between any two composite delay vectors as the maximum distance between the | corresponding elements of the two vectors, and a distance threshold; calculate the | number and frequency of distances between any two composite delay vectors smaller | than or equal to the distance threshold; expand the dimensions of the time delay | vectors, and construct new composite delay vectors again; calculate the number and | frequency of distances between any two new composite delay vectors smaller than or |! equal to the distance threshold; calculate a logarithm of the ratio of the two | frequencies to obtain a multivariate sample entropy; repeat the calculation to obtain | multiple multivariate sample entropies; draw a relationship curve between multi-time | scales and multivariate sample entropies, and calculate the area under the multivariate | sample entropy curve to obtain dynamic coupling complexity values of multi-time eee +
_ Ess — TT" en | | 22 LU101802 scales; and the calculation module for an indicator of dynamic coordination between fingers is | configured to calculate the differences between the dynamic coupling complexity | values of multi-time scales and the standard deviation of multivariate sample | entropies to obtain the indicator of dynamic coordination between fingers. |
7. A multi-finger grasping function test and analysis method based on | multi-directional stable deflection torques, comprising the following steps: | measuring multi-directional three-dimensional force and three-dimensional torque | data generated when subject's five fingers grip the test device to form five | three-dimensional force and three-dimensional torque vector time series; | performing multi-scale sample entropy analysis on the five three-dimensional force | and three-dimensional torque vector time series to obtain dynamic coupling | complexity values of multi-time scales; and | calculating an indicator of dynamic coordination between fingers by using the | dynamic coupling complexity values of multi-time scales. |
8. The multi-finger grasping function test and analysis method based on | multi-directional stable deflection torques according to claim 7, wherein the step of | measuring multi-directional three-dimensional force and three-dimensional torque |. data generated when subject's five fingers grip the test device comprises: | placing rated weights at a position marker in the base of the test device; | grasping, by the subject, the outer cup of the test device with five fingers in a natural | grasping posture, lifting the test device steadily at a natural speed to a specified height, | then doing a drinking action, and holding the test device up for 20 seconds to produce | a deflection torque in a certain direction; | putting back, by the subject, the test device steadily after receiving an end signal, | recording three-dimensional force and three-dimensional torque data generated during | the grasping process, and calculating coordinates of fingertip pressure center points; | and | placing the rated weights at another position marker in the base of the test device, and |
LL = Loc = = = = = — PSE EE EEE EER 23 LU101802 repeating the above steps until obtaining three-dimensional force and three-dimensional torque data of the five fingers in eight directions. |
9. The multi-finger grasping function test and analysis method based on | multi-directional stable deflection torques according to claim 7, wherein the step of | performing multi-scale sample entropy analysis on the five three-dimensional force | and three-dimensional torque vector time series comprises: | coarsely graining the five three-dimensional force and three-dimensional torque | vector time series to obtain a new time series; | constructing composite delay vectors using the five three-dimensional force and | three-dimensional torque vector time series, embedded dimension vectors and time | delay vectors; | setting the distance between any two composite delay vectors as the maximum Ll distance between the corresponding elements of the two vectors, and a distance | threshold; | calculating the number and frequency of distances between any two composite delay . vectors smaller than or equal to the distance threshold; | expanding the dimensions of the time delay vectors, and constructing new composite | delay vectors again; | calculating the number and frequency of distances between any two new composite | 1 to the distance threshold; | delay vectors smaller than or equal to the distance threshold; | calculating a logarithm of the ratio of the two frequencies to obtain a multivariate | sample entropy; | repeating the above steps to obtain multiple multivariate sample entropies; and | drawing a relationship curve between multi-time scales and multivariate sample | entropies, and calculating the area under the multivariate sample entropy curve to | obtain dynamic coupling complexity values of multi-time scales. |
10. The multi-finger grasping function test and analysis method based on i i laim 7, wherein the | multidirectional stable deflection torques according to claim 7, | calculation method of the indicator of dynamic coordination between fingers is: |
=== = = I | calculating the differences between the dynamic coupling complexity values of | multi-time scales and the standard deviation of multivariate sample entropies to obtain | the indicator of dynamic coordination between fingers. |
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| CN113040760B (en) * | 2021-03-17 | 2022-05-17 | 山东大学 | A gripping finger force record analysis pen for assessing meticulous hand function |
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