WO2022156094A1 - 手部运动检测装置及控制方法、康复装置和自主控制系统 - Google Patents

手部运动检测装置及控制方法、康复装置和自主控制系统 Download PDF

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Publication number
WO2022156094A1
WO2022156094A1 PCT/CN2021/092796 CN2021092796W WO2022156094A1 WO 2022156094 A1 WO2022156094 A1 WO 2022156094A1 CN 2021092796 W CN2021092796 W CN 2021092796W WO 2022156094 A1 WO2022156094 A1 WO 2022156094A1
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Prior art keywords
hand
motion detection
finger
motion
conductive adhesive
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PCT/CN2021/092796
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English (en)
French (fr)
Inventor
尹刚刚
王吴东
陈忠哲
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上海司羿智能科技有限公司
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Application filed by 上海司羿智能科技有限公司 filed Critical 上海司羿智能科技有限公司
Priority to EP21920480.7A priority Critical patent/EP4282392A1/en
Priority to KR1020237024078A priority patent/KR20230121127A/ko
Priority to JP2023544365A priority patent/JP2024505468A/ja
Publication of WO2022156094A1 publication Critical patent/WO2022156094A1/zh
Priority to US18/355,066 priority patent/US20230363971A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116—Determining posture transitions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1124—Determining motor skills
    • A61B5/1125—Grasping motions of hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1409—Hydraulic or pneumatic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5005—Control means thereof for controlling frequency distribution, modulation or interference of a driving signal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/5056—Control means thereof pneumatically controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers

Definitions

  • the invention relates to the technical field of finger rehabilitation training, in particular to a hand motion detection device and a control method, a rehabilitation device and an autonomous control system.
  • Patent Publication No. KR1020180072264A discloses a hand rehabilitation training system and training method
  • Patent Publication No. KR1020180134083A discloses a ball-shaped hand joint rehabilitation device and a rehabilitation device including the device
  • Patent Publication No. CN208426594U discloses a ball-shaped hand joint rehabilitation device and a rehabilitation device including the device
  • Patent Publication No. CN208426594U discloses a ball-shaped hand joint rehabilitation device and a rehabilitation device including the device
  • Patent Publication No. CN208426594U The patented an anti-scar contracture grip force device of the hand.
  • the three inventions all use the method of making a fist and pressing the air bag to collect hand motion information.
  • the accuracy of the collection of finger joint movement information is not high, and it is impossible to collect real-time finger joint motion information.
  • motion information and cannot collect the motion of a single finger joint.
  • using an angle sensor or the like to collect motion information of a single finger joint is costly.
  • Patent Publication No. CN110478195A discloses a sensor device and an integrated finger joint rehabilitation glove.
  • the sensor device includes: a finger part, the finger part is suitable for being sleeved on the user's finger, and the sensor device is adapted to fit the user's finger.
  • the finger is bent and bent; the finger part has a finger sensor, and the finger sensor is used to transmit the action of the finger part to the controller; the controller sends out a trigger signal after receiving the signal sent by the finger sensor; wherein , the controller is connected with the finger sensor through a signal line.
  • the control signal is generated according to the control of the user's finger, which can be the patient's family member or even the patient himself, so as to better understand the actual situation of the patient and generate a more accurate control signal.
  • the patent has the following defects: (1) the permanent magnet will have a weakened magnetic force, and the magnetism will be eliminated due to external reasons, and the magnet will fall off; The trial scene and usage conditions have certain limitations; (3) the weight is large and the user's load is heavy, which will affect the movement of the fingers; (4) a set of permanent magnets and Hall switches can only detect a single joint, if a single joint is required The movement of multiple joints of the finger requires multiple sets of permanent magnets and Hall switches. The weight is large, which will affect the movement of the finger and cannot detect multiple joints.
  • the purpose of the present invention is to provide a hand motion detection device and control method, a rehabilitation device and an autonomous control system, so as to realize real-time and accurate collection of motion information of the finger joints of the first hand.
  • the hand motion detection device of the present invention includes a motion detection part, including a motion detection part, the motion detection part is arranged on the finger joints of the first hand, and the fingers of the first hand During the stretching exercise and the flexing exercise, detection information of feedback finger joint movement is generated, the movement detection part is connected to the control part, and the movement detection part transmits the detection information to the control part, and the control part according to the The detection information issues an execution command.
  • the beneficial effect of the hand motion detection device of the present invention is that: the motion detection part is arranged on the finger joints of the first hand, and feedback fingers are generated during the extension and flexion motions of the fingers of the first hand.
  • the detection information of the joint movement so that the movement detection part can generate real-time feedback detection information of finger joint movement with the fingers of the first hand extending and flexing; the movement detection part is connected to the control part, and the movement
  • the detection part transmits the detection information to the control part, and the control part issues an execution instruction according to the detection information, so as to realize the real-time and accurate collection of the motion information of the finger joints of the first hand and to timely detect the detection information.
  • the information is transmitted to the control section.
  • the motion detection unit includes a first detection unit and a second detection unit which are arranged in isolation, and when the fingers of the first hand are bent, the first detection unit contacts the second detection unit to trigger the generation of the detection information.
  • the beneficial effect is that: the first detection unit and the second detection unit are in contact with the fingers of the first hand to generate the detection information, so as to realize real-time and accurate collection of the finger joints of the first hand. sports information.
  • the motion detection part is provided across at least one finger joint, and the detection information is generated during the at least one finger joint performing extension movement and flexion movement.
  • the motion detection unit can detect motion information of at least one finger joint.
  • At least one finger of the first hand is provided with the motion detection part, and a single finger is provided with at least one of the motion detection parts.
  • the motion detection unit can detect motion information of the finger joints of at least one finger of the first hand.
  • each of the finger joints is provided with a plurality of the motion detection parts.
  • the beneficial effect is that the accuracy of detecting motion information of the finger joints of the first hand is improved, and the movement angles of the finger joints of the first hand in multiple directions, such as the angle of the adduction movement of the metacarpophalangeal joints, can be detected. and abduction angles.
  • the hand motion detection device further includes a wearing part, the wearing part is in the shape of a glove and includes a finger part, and the movement detection part is arranged on the finger part.
  • the motion detection part is arranged on the wearing part, which can effectively prevent the motion detection part from falling off from the user's hand, which is convenient for the user to use the hand motion detection device, especially suitable for the hand Use by insensitive people.
  • the finger portion is provided with an accommodating portion, and the motion detecting portion is provided in the accommodating portion.
  • the beneficial effect is that the setting is simple, the relative sliding of the motion detection part and the finger part of the wearing part can be effectively prevented, the motion detection part can be moved with the user's finger, and the motion detection part can be easily disassembled. part, wash the wearing part.
  • the motion detection part is fixed to the finger part by any one of glue, Velcro, magnet, suture, buckle, finger cover and strap.
  • glue glue, Velcro, magnet, suture, buckle, finger cover and strap.
  • the first detection unit includes a first conductive adhesive layer
  • the second detection unit includes a second conductive adhesive layer
  • the first conductive adhesive layer and the second conductive adhesive layer are not in contact with each other and are disposed separately
  • the first conductive adhesive layer and the second conductive adhesive layer contact each other to generate the detection information.
  • the beneficial effects are that the structure is simple, the design is ingenious, the cost is low, and the first conductive adhesive layer, the second conductive adhesive layer and the elastic outer softness are good, and it is easier to follow the extension movement and movement of the fingers of the first hand. Flexion movement and bending.
  • both the first conductive adhesive layer and the second conductive adhesive layer are made of conductive adhesive.
  • the beneficial effects are: simple structure, ingenious design and low cost.
  • the first conductive adhesive layer and the second conductive adhesive layer include conductive adhesive and wires embedded in the conductive adhesive.
  • the beneficial effect is that the conductive effect of the conductive adhesive is further ensured.
  • control part and the motion detection part are electrically connected via the wire.
  • the beneficial effects are: the control part is convenient to use the wire to connect with the motion detection part, the connection method is simple, the cost is low, and the information transmission is stable.
  • one end of the elastic casing is further provided with the conductive element, the upper and lower end surfaces of the conductive element are respectively in contact with the first conductive adhesive layer and the second conductive adhesive layer, and the control part is in contact with the
  • the motion detection portion is electrically connected via the conductive element.
  • the beneficial effect is that: the upper and lower end surfaces of the conductive element are respectively in contact with the first conductive adhesive layer and the second conductive adhesive layer, which not only increases the support strength of the head end of the motion detection part, but also improves the collection of electrical information. to be sensitive.
  • control method of the hand motion detection device includes:
  • the motion detection unit generates detection information that feeds back the movement of the finger joints during the extension movement and flexion movement of the fingers of the first hand, and transmits the detection information to the control unit;
  • the control unit issues an execution instruction according to the detection information.
  • the beneficial effect is that the movement information of the finger joints of the first hand can be collected accurately in real time.
  • the present invention also provides a rehabilitation device, which includes the hand motion detection device to collect detection information, the rehabilitation device further includes an air pressure adjustment component and a wearing training part, and the wearing training part is provided with a pneumatic expansion and contraction part.
  • the air pressure adjustment assembly is connected with the pneumatic telescopic assembly; the air pressure adjustment assembly is connected with a control part, and the control part controls the air pressure adjustment assembly to adjust the air pressure in the pneumatic expansion and contraction assembly according to the detection information, so that The wearing training portion changes between a flexion condition and an extension condition to achieve hand mirror training of the second hand.
  • the beneficial effect of the rehabilitation device of the present invention is that: the movement information of the finger joints of the first hand can be collected by collecting the detection information through the hand movement detection device, and the control part controls the movement information according to the detection information.
  • the air pressure adjustment assembly adjusts the air pressure in the pneumatic telescopic assembly, so that the wearing training part changes between a flexion state and an extension state, so as to realize the hand mirror training of the second hand, so that the first hand can pass the first
  • the working condition of the second hand is adjusted according to the working condition of the hand, that is, the information for controlling the wearing training unit is generated according to the user's finger, which can be the patient's family member or even the patient himself, so as to realize
  • the rehabilitation training time, action and intensity of the second hand can be adjusted autonomously, so that the wearing training part can be better adjusted to meet the rehabilitation training needs of the second hand.
  • the present invention also provides an autonomous control system, comprising an execution part and the hand motion detection device, and the execution part is connected to the control part.
  • the beneficial effect of the autonomous control system of the present invention is that: the execution part moves according to the execution instruction to feed back the motion information of the finger joints of the first hand, so that the user can not only obtain the training feedback result in real time, but also improve the The user is motivated to train autonomously, has high training compliance, and can autonomously control the execution part flexibly.
  • the execution part includes a drive unit, and the drive unit is configured to drive an image to move or a sound to change or drive a game to run according to the motion execution instruction, and the image, sound and game are stored in the terminal device.
  • the beneficial effect is that: the execution part drives the image movement or the sound change or drives the game to run according to the motion execution instruction, so that the user can independently adjust the motion information of the finger joints of the first hand according to the feedback result. It is more flexible and more suitable for the actual situation of the user, which improves the training effect, and can feedback the first hand by driving the image movement or driving the sound change or driving the game to run.
  • the movement information of the finger joints of the upper part of the body allows the user to obtain the training feedback results in real time, the training effect is more intuitive, and can accurately reflect the completion of the patient's hand movements.
  • the training compliance is high and the training effect is improved.
  • FIG. 1 is a schematic structural diagram of a hand motion detection device in some embodiments of the present invention.
  • FIG. 2 is a schematic structural diagram of a motion detection unit disposed on a finger in some embodiments of the present invention
  • FIG. 3 is a schematic structural diagram of a motion detection unit disposed on a finger in still some embodiments of the present invention.
  • FIG. 4 is a schematic structural diagram of a motion detection unit in some embodiments of the present invention.
  • FIG. 5 is a structural side view of a motion detection portion in some embodiments of the present invention.
  • FIG. 6 is a schematic structural diagram of a motion detection unit in still other embodiments of the present invention.
  • FIG. 7 is a schematic structural diagram of a rehabilitation device in some embodiments of the present invention.
  • FIG. 8 is a schematic diagram of the wearing training part in a stretched condition according to some embodiments of the present invention.
  • FIG. 9 is a schematic diagram of the wearing training part in a buckling condition in some embodiments of the present invention.
  • FIG. 1 is a schematic structural diagram of a hand motion detection device in some embodiments of the present invention.
  • an embodiment of the present invention provides a hand motion detection device.
  • FIG. 1 it includes a motion detection unit 1, and the motion detection unit 1 is arranged on the finger joints of the first hand. And in the process of extending and flexing the fingers of the first hand, the detection information of feedback finger joint movement is generated, and the movement detection part 1 is connected to the control part 2, and the movement detection part 1 transmits the detection information.
  • the control unit 2 sends an execution instruction according to the detection information, so that the motion detection unit can generate feedback of the finger joint movement in real time with the extension movement and flexion movement of the fingers of the first hand.
  • the detection information realizes real-time and accurate collection of motion information of the finger joints of the first hand and timely transmission of the detection information to the control unit.
  • control unit is a self-contained component of the hand motion detection device, and the motion detection unit and the control unit are connected in a wired or wireless manner.
  • control portion is sleeved on the user's wrist through a structure such as a strap.
  • control part is disposed on the palm or the palm of the first hand, preferably the palm, by means of pasting or binding, so as to prevent the user from flexing fingers.
  • control part is a component configured by a device used in conjunction with the hand motion detection device, and the motion detection part and the control part are connected in a wired or wireless manner.
  • the motion detection unit includes a first detection unit and a second detection unit that are arranged in isolation, and when the finger of the first hand is bent, the first detection unit contacts the second detection unit
  • the detection unit thus triggers the generation of the detection information, and the first detection unit and the second detection unit are in contact with the fingers of the first hand to generate the detection information, so as to realize the real-time and accurate collection of the first hand motion information of the finger joints of the part.
  • the bending of the fingers of the first hand includes that the fingers are in a flexed state or the fingers undergo a flexion change, that is, a non-extended state.
  • the motion detection unit includes a first detection unit and a second detection unit that are arranged in isolation, and when the fingers of the first hand are in a straight state, the first detection unit contacts the The second detection unit triggers the generation of the detection information.
  • the first detection unit does not contact the second detection unit and does not generate the detection information.
  • this method is implemented, the structure of the motion detection part is difficult to realize, and only when the fingers of the first hand are in a straight state, the first detection unit is connected with the second detection unit.
  • the detection information is generated by contact, that is, only the change information from the bending state to the straight state of the finger can be detected, and the detection information of the feedback finger joint movement generated during the extension and flexion movement of the finger cannot be detected.
  • the detection range is relatively small, and the practical application benefits are not large.
  • the first detection unit and the second detection unit are triggered to generate different detection information according to a change in the flexion angle of the finger joint and send the detection information to the control unit.
  • the detection information includes any one of electrical information, magnetic information, and optical information.
  • the detection information includes at least one of current, voltage, inductance, and resistance.
  • the detection information includes current information and resistance information
  • the motion detection unit follows the first hand.
  • the finger joints of the first hand flex and deform, and the first detection unit and the second detection unit contact each other to generate current information;
  • the motion detection unit follows The finger joints of the first hand move straight and straight, and the first detection unit and the second detection unit are not in contact;
  • the flexion angle of the finger joints of the first hand changes, the The flexion angle of the motion detection part also changes, and the mutual contact area of the first detection unit and the second detection unit changes, resulting in a change in the generated resistance value information;
  • the motion detection part undergoes a buckling change accordingly, and the mutual contact area of the first detection unit and the second detection unit gradually increases, resulting in a gradually decreasing resistance value;
  • the resistance value of the motion detection unit varies in the range of 10-1000 ohms, which is convenient for real-time response to the flexion angle of the finger joint,
  • the flexion angle values of the finger joints are different, and the resistance values of the motion detection unit are different, so that the control unit can analyze and process the resistance value information to obtain the flexion angle values of the finger joints.
  • the resistance value of the motion detection part varies in the range of 300-800 ohms.
  • the resistance value of the motion detection part may be 350 ohms, 400 ohms depending on the flexion angle of the finger joints.
  • the resistance value of the motion detection part varies in the range of 30-150 ohms.
  • the resistance value of the motion detection part may be 35 ohms, 40 ohms depending on the flexion angle of the finger joints. Ohm, 60 Ohm, 120 Ohm, 130 Ohm, 140 Ohm, etc.
  • the resistance value of the motion detection part varies in the range of 50-100 ohms.
  • the resistance value of the motion detection part may be 55 ohms, 65 ohms, depending on the flexion angle of the finger joints.
  • the motion detection part is disposed on the fingers of the first hand by means of pasting, binding or finger wraps, and the motion detection part spans the finger joints of the first hand set up.
  • the motion detection part is arranged on the surface of the finger pad or the back of the finger pad of the first hand.
  • the finger pad surface or the back of the finger pad of the finger of the first hand the motion detection part fits the finger pad surface or the back of the finger pad of the first hand.
  • the setting is simpler, and it is helpful for the motion detection
  • the part generates detection information along with the extension movement and flexion movement of the fingers of the first hand, so as to improve the accuracy of detection of the movement information of the finger joints of the first hand.
  • the back of the finger pad refers to the face on the finger that is on the same side as the back of the hand, that is, the side of the finger with the fingernail
  • the finger pad surface refers to the face on the finger that is on the same side as the palm, that is, the same side as the finger.
  • the first hand is the left or right hand of the user.
  • the hand motion detection device further includes a wearing part 3 , the wearing part 3 is in the shape of a glove and includes a finger part, and the movement detection part 1 is arranged on the finger part , the motion detection part 1 is arranged on the wearing part 3, which can effectively prevent the motion detection part 1 from falling off from the user's hand, which is convenient for the user to use the hand motion detection device, especially suitable for the hand movement detection device. Use by sensitive people.
  • the motion detection part 1 is arranged on the surface of the finger pad or the back of the finger pad.
  • control part when the control part is a self-contained part of the hand motion detection device, the control part is disposed on the palm or the palm of the wearing part.
  • the finger portion is provided with an accommodating portion, the motion detecting portion is arranged in the accommodating portion, and the motion detecting portion is detachably connected to the accommodating portion, which is simple to set and effective.
  • the motion detection part and the finger part of the wearing part are prevented from sliding relative to each other, so that the motion detection part can move with the user's finger, and it is convenient to disassemble the motion detection part and clean the wearing part.
  • the accommodating part is an installation bag structure, and the installation bag is provided with an opening, and the opening is used for inserting the motion detection part.
  • the wearing part further comprises a suture
  • the suture is used to sew and fix the edge of the accommodating part to the finger part of the wearing part, and the accommodating part is sewed and fixed by the suture
  • the finger part of the wearing part is convenient and simple, firm and durable, and low in cost.
  • the motion detection part is fixed to the finger part by any one of glue, Velcro, magnet, suture, buckle, finger cover and strap, which can effectively prevent the The motion detection part and the finger part of the wearing part slide relative to each other to ensure that the motion detection part can move together with the user's finger.
  • the wearing portion may also be a strap structure, or other structures capable of fixing the motion detection portion to the finger portion, such as cloth strips, ropes, threads, finger covers, and the like.
  • the motion detection unit is provided with a plurality of single fingers respectively disposed on the first hand, so that the motion detection unit can respectively detect motion information of the finger joints of the single finger .
  • At least one finger of the first hand is provided with the motion detection part, and a single finger is provided with at least one motion detection part, so that the motion detection part can detect all the motion detection parts.
  • the motion information of the finger joint of at least one finger of the first hand is described.
  • the motion detection unit is provided with a plurality of single fingers respectively disposed on the first hand, the motion detection unit is connected in parallel and is connected with the control unit to detect respectively
  • the detection information is generated when the single finger joint performs the extension movement and the flexion movement, so that the movement detection unit can detect the movement information of the finger joints of the single finger respectively.
  • the five motion detection units 1 which are a first motion detection unit 11 , a second motion detection unit 12 , a third motion detection unit 13 , and a fourth motion detection unit 13 .
  • the five motion detection units are respectively connected with the control unit
  • the first motion detection unit 11 is arranged to fit the thumb to collect motion information of the finger joints of the thumb and transmit
  • the second motion detection part 12 is set to fit the index finger to collect the motion information of the finger joints of the index finger and transmit it to the control part
  • the third motion detection part 13 is set to fit the middle finger to collect the finger of the middle finger.
  • the motion information of the joints is transmitted to the control unit, the fourth motion detection unit 14 is set to fit the ring finger to collect motion information of the finger joints of the ring finger and transmit it to the control unit, and the fifth motion detection unit 15 is attached to the ring finger. It is arranged to close the little finger to collect the motion information of the finger joint of the little finger and transmit it to the control part.
  • the motion detection part is provided with a plurality of single fingers respectively disposed on the first hand, and the motion detection part is connected in series and connected with the control part, so as to When it is detected that any one of the finger joints performs extension movement and flexion movement, the detection information is generated and transmitted to the control unit.
  • the motion detection unit is disposed across at least one finger joint, and the detection information is generated during the at least one finger joint performing extension and flexion movements, so that the motion detection unit can detect Motion information of at least one finger joint.
  • FIG. 2 is a schematic structural diagram of a motion detection unit disposed on a finger in some embodiments of the present invention.
  • the sixth motion detection part 16 there is one motion detection part, which is a sixth motion detection part 16 , and one end of the sixth motion detection part 16 straddles the distal interphalangeal joint and fits together Set, the other end spans the metacarpophalangeal joint and is fitted, and the middle section spans the proximal interphalangeal joint and is fitted to detect the distal interphalangeal joint, the proximal interphalangeal joint, and the metacarpophalangeal joint
  • the movement of a total of 3 finger joints that is, the sixth movement detection unit 16 simultaneously detects the movement of the entire finger joint, so as to detect the overall movement state of the entire finger.
  • the sixth motion detection unit 160 will generate detection information to send to the control unit accordingly.
  • the motion detection part 16 is arranged on the surface of the finger of the first hand, and the motion detection part 16 fits the finger of the first hand.
  • the finger pad surface is simpler to set, and helps the motion detection unit to generate detection information during the extension movement and flexion movement of the fingers of the first hand, and improves the detection of movement information of the finger joints of the first hand. 's accuracy.
  • FIG. 3 is a schematic structural diagram of a motion detection part disposed on a finger in still other embodiments of the present invention.
  • each motion detection unit is Only the motion of one finger joint is detected, and the motion detection parts are independent of each other, and the motion information of the finger joints collected respectively do not affect each other.
  • the seventh motion detection unit 17 generates detection information during the extension and flexion motion of the distal interphalangeal joint to collect motion information of the distal interphalangeal joint; the eighth motion detection unit 18 crosses the proximal finger.
  • the eighth motion detection unit 18 generates detection information during the extension and flexion motions of the proximal interphalangeal joints to collect motion information of the proximal interphalangeal joints;
  • the ninth motion detection The part 19 spans the metacarpophalangeal joint and fits closely.
  • the ninth motion detection part 13 generates detection information during the extension movement and flexion movement of the metacarpophalangeal joint to collect motion information of the metacarpophalangeal joint.
  • the seventh motion detection part 17 , the eighth motion detection part 18 , and the ninth motion detection part 19 are all arranged at the positions of the fingers of the first hand.
  • the back of the finger pad, the motion detection part is easier to set on the back of the finger pad of the finger of the first hand, and it is helpful for the extension movement and flexion of the finger of the first hand by the motion detection part
  • the detection information is generated during the movement, and the accuracy of detection of the movement information of the finger joints of the first hand is improved.
  • the seventh motion detection part 17 , the eighth motion detection part 18 and the ninth motion detection part 19 are connected in parallel, and are respectively connected with the control part to detect a single finger respectively
  • the detection information is generated during the joint extension movement and flexion movement.
  • the seventh motion detection part 17 , the eighth motion detection part 18 and the ninth motion detection part 19 are connected in series, and are connected to the control part through a bus line, The detection information is generated and transmitted to the control unit when any one of the finger joints is detected to perform extension movement and flexion movement.
  • each of the finger joints is provided with a plurality of the motion detection parts, which improves the accuracy of motion information detection of the finger joints of the first hand, as the same finger joint is located in the finger pads of the fingers
  • One of the motion detection parts is respectively provided on the back side and the back side of the finger pad.
  • each of the finger joints is provided with a plurality of the motion detection parts to detect the movement angles of the finger joints in multiple directions.
  • the finger side of the joint refers to the finger side between the finger pad and the back of the finger pad, so as to detect the angle of the adduction movement and the angle of the abduction movement of the metacarpophalangeal joint.
  • the hand motion detection device is worn on the first hand of the user, and the motion detection portion is arranged on the metacarpophalangeal joint of a finger of the first hand, preferably across the metacarpophalangeal finger
  • the joint is arranged and arranged on the side of the finger of the metacarpophalangeal joint.
  • the first detection unit and the second detection unit are not in contact; when the finger moves and the metacarpophalangeal joint rotates, the first detection unit and the second detection unit are in contact with relative bending to generate detection information; As the rotation angle of the metacarpophalangeal joint increases, the contact area between the first detection unit and the second detection unit increases, and the generated detection information changes.
  • the detection information is resistance information, and as the contact area of the first detection unit and the second detection unit increases, resistance information with a reduced resistance value is generated. According to the resistance value information, The rotation angle of the metacarpophalangeal joint can be obtained.
  • the first detection unit includes a first conductive adhesive layer
  • the second detection unit includes a second conductive adhesive layer
  • the first conductive adhesive layer and the second conductive adhesive layer are mutually They are not in contact and are respectively arranged on the opposite inner side walls of the elastic shell.
  • the first conductive adhesive layer and the second conductive adhesive layer contact each other to generate the detection information
  • the structure is simple, the design is ingenious, the cost is low, and the first conductive adhesive
  • the layer, the second conductive adhesive layer and the elastic outer layer have good softness, and are easier to bend with the extension movement and flexion movement of the fingers of the first hand.
  • FIG. 4 is a schematic structural diagram of the motion detection unit in some embodiments of the present invention
  • FIG. 5 is a structural side view of the motion detection unit in some embodiments of the present invention.
  • the first detection unit includes a first conductive adhesive layer 1113
  • the second detection unit includes a second conductive adhesive layer 1114
  • the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 are not in contact with each other and are respectively disposed on the opposite inner sidewalls of the elastic shell 1111.
  • the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 both include conductive adhesive and are embedded in The wire 1112 of the conductive adhesive, the control part (not shown in the figure) and the motion detection part are electrically connected through the wire 1112, and the wire 1112 is connected with the control part (not shown in the figure) through the connection wire Connection, the connection method is simple, the cost is low, and the information transmission is stable.
  • the wires 1112 are metal conductive wires.
  • the wire 1112 is a copper wire.
  • FIG. 6 is a schematic structural diagram of a motion detection unit in still other embodiments of the present invention.
  • a conductive element 1115 is further provided at one end of the elastic housing 1111 , and the upper and lower end surfaces of the conductive element 1115 are respectively connected to the The first conductive adhesive layer 1113 is in contact with the second conductive adhesive layer 1114, the control part (not marked in the figure) and the motion detection part are electrically connected through the conductive element 1115, and the conductive element 1115 is connected by The wire is connected to the control part (not marked in the figure), and the upper and lower end surfaces of the conductive element 1115 are respectively in contact with the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114, which not only increases the motion detection The support strength of the head end of the part is more sensitive, and the electrical information collection is more sensitive.
  • the conductive element is a header terminal.
  • the first detection unit includes a first conductive adhesive layer 1113
  • the second detection unit includes a second conductive adhesive layer 1114
  • the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 are both made of conductive adhesive.
  • One end of the elastic casing 1111 There is also a conductive element 1115, the upper and lower end surfaces of the conductive element 1115 are in contact with the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 respectively, the control part (not marked in the figure) and the movement
  • the detection part is electrically connected via the conductive element 1115, and the conductive element 1115 is connected to the control part (not shown in the figure) through a connecting wire.
  • the detection information includes current information and resistance information
  • the motion detection part flexes with the movement of the finger joints of the first hand , the elastic shell 1111 is deformed, the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 contact each other to generate current information;
  • the finger joints of the first hand are in a straight state, the The motion detection part straightens with the movement of the finger joints of the first hand, the elastic shell 1111 rebounds and straightens, and the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 do not contact;
  • the flexion angle of the finger joints of the first hand changes, the flexion angle of the motion detection part also changes, and the mutual contact area of the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 changes, resulting in the occurrence of The resistance value information of the first hand changes; when the finger joints of the first hand perform a flexing motion, the motion detection part
  • the elastic shell is made of silicone rubber, and the silicone rubber is easily deformed, so that when the finger joints of the first hand are flexed, the first conductive adhesive layer and the The two conductive adhesive layers are easily in contact with each other, which ensures the sensitivity of motion information detection of the finger joints of the first hand.
  • At least one surface of the elastic shell is a concave-convex surface, that is, at least one surface of the elastic shell is provided with bumps, concave-convex stripes, concave-convex patterns or patterns, etc. to form a concave-convex surface, the concave-convex surface It is easy to process and has a good anti-slip effect, preventing the motion detection part and the fingers of the first hand or the fingers of the wearing part from sliding relative to each other.
  • the elastic housing is a long and narrow strip-shaped structure, so that the motion detection part is conveniently arranged on the fingers of the first hand to detect the motion angle information of the finger joints.
  • the length of the elastic shell is 10-140 mm.
  • the length of the elastic shell is 10-20 mm, which is suitable for children to collect motion information of a single finger joint.
  • the length of the elastic shell is 15-50 mm, which is suitable for children to collect motion information of the finger joints of a single finger.
  • the length of the elastic shell is 10-30 mm, which is suitable for adults to collect motion information of a single finger joint.
  • the length of the elastic shell is 40-140mm, which is suitable for adults to collect motion information of the finger joint of a single finger, specifically 60mm, 70mm, 80mm, 100mm or 110mm, etc.
  • the height of the longitudinal section of the elastic shell is 0.5-6 mm.
  • the height of the longitudinal section of the elastic shell is 6 mm, which helps to improve the sensitivity and accuracy of motion information collection of the finger joints of the first hand.
  • the height of the longitudinal section of the elastic housing is 0.5 mm, which is convenient for the motion detection part to fit on the finger.
  • the height of the longitudinal section of the elastic shell is 2mm, 4mm, 5mm, 3.5mm or 5.8mm.
  • the width of the elastic shell is 0.5-12 mm.
  • the width of the elastic shell is 0.5 mm, which is convenient for the motion detection part to fit on the finger.
  • the width of the elastic shell is 12 mm, which helps to improve the sensitivity and accuracy of motion information collection of the finger joints of the first hand.
  • the width of the elastic shell is 1 mm, 2 mm, 5 mm, 7 mm or 10 mm.
  • the length of the elastic casing is 110 mm, the width is 7 mm, and the height of the longitudinal section is 4 mm.
  • FIG. 7 is a schematic structural diagram of a rehabilitation device in some embodiments of the present invention.
  • a rehabilitation device including the hand motion detection device, the hand motion detection device includes a motion detection unit 1, and the motion detection unit is arranged on the first A finger joint of a hand, and the detection information of feedback finger joint movement is generated during the extension movement and flexion movement of the fingers of the first hand.
  • the rehabilitation device further includes an air pressure adjustment component (not marked in the figure) and a
  • the wearing training part 5 is provided with a pneumatic telescopic assembly (not shown in the figure), and the air pressure adjustment assembly (not shown in the figure) passes through the trachea assembly (not shown in the figure) and the pneumatic expansion and contraction assembly (not shown in the figure).
  • the assembly (not shown in the figure) adjusts the air pressure in the pneumatic telescopic assembly (not shown in the figure), so that the wearing training part 5 changes between the flexion state and the extension state, so as to realize the movement of the second hand.
  • Hand mirror training So that the working condition of the second hand can be adjusted by the working condition of the first hand, that is, the second hand can be adjusted autonomously by adjusting and controlling the collection of motion information of the finger joints of the first hand.
  • the air pressure adjusting assembly that drives the movement of the pneumatic telescopic assembly includes an air pump, a control valve, and an air circuit system, etc.
  • the air pressure adjusting assembly is a conventional means in the field, and will not be repeated here.
  • the air pressure adjustment component adjusts the air pressure in the pneumatic expansion/contraction component by controlling the air pressure adjustment component to inflate or pump air to the pneumatic expansion/contraction component.
  • the air pressure adjustment component adjusts the air pressure in the pneumatic telescopic assembly by controlling the air pressure of the air pressure adjustment component to the pneumatic expansion and contraction assembly, for example, by controlling the air pressure adjustment
  • the solenoid valve and air circuit in the assembly are adjusted.
  • control part is a self-contained component of the rehabilitation device, and the hand motion detection device can be connected to the control part to be used.
  • the rehabilitation device further includes a device housing 4 , and the air pressure adjustment component and the control portion are arranged in the device housing 4 .
  • control portion is a self-contained component of the hand motion detection device, and the control portion can be used by connecting the control portion with the air pressure adjustment assembly.
  • the first hand and the second hand are both the left hand or the right hand of the user, and the mirror image training refers to the movement of the second hand with reference to the movement of the first hand.
  • the wearing training part in the shape of a left-hand glove and the wearing part in the shape of a right-hand glove are a group, and the wearing training part in the shape of a right-hand glove and the wearing part in the shape of a left-hand glove are One group.
  • the wearing part and the wearing training part are selected to be electrically connected with the device casing according to the needs of the patient.
  • the wearing training part 5 is in the shape of a glove
  • the pneumatic telescopic assembly specifically includes a connecting trachea 51 and a bellows 52 fixed on the wearing training part 5 and a trachea assembly ( Not marked in the figure), the connecting air pipe 51 and the bellows 52 constitute a set of pneumatic telescopic components (not marked in the figure).
  • Each finger of the wearing training part 5 is provided with a set of pneumatic expansion and contraction components (not marked in the figure), and each set of pneumatic expansion and contraction components (not marked in the figure) is connected to the Air pressure adjustment assembly (not shown in the picture).
  • the bellows 52 is disposed at each joint of the wearing training part 5 , and the adjacent bellows 52 are connected through the connecting trachea 51 .
  • the bellows 52 When the bellows 52 is inflated, the internal air pressure of the bellows 52 increases, the length of the bellows 52 increases, and the bellows 52 is stretched to bend the fingers on which the bellows 52 is provided.
  • the bellows 52 When the bellows 52 is pumped, the internal air pressure of the bellows 52 is reduced, the length of the bellows 52 is reduced, and the bellows 52 is in a compressed state, so that the fingers on which the bellows 52 are arranged are straightened.
  • the wearing training part is in an extended state in an initial state, and when the hand motion detection device is just started, the control part drives the air pressure adjustment component to the pneumatic expansion and contraction component (Not marked in the figure) pumping air, the internal air pressure of the bellows 52 is reduced, the length of the bellows 52 is reduced, and it is in a compressed state, so that the wearing training part 5 is in an extended state, and the wearing training Each finger of the part 5 is straightened. At this time, the wearing resistance of the wearing training part 5 is greatly reduced, which is convenient for the user to wear the wearing training part 5 .
  • control method of the hand motion detection device includes:
  • the motion detection unit generates detection information that feeds back the movement of the finger joints during the extension movement and flexion movement of the fingers of the first hand, and transmits the detection information to the control unit;
  • the control unit issues an execution instruction according to the detection information, so as to realize the real-time and accurate collection of the motion information of the finger joints of the first hand.
  • a method for controlling a rehabilitation device including:
  • the motion detection unit is arranged on the finger joints of the first hand, and the motion detection unit generates detection information that feeds back the motion of the finger joints when the fingers of the first hand perform extension and flexion motions. Then, transmitting the detection information to the control unit;
  • control section analyzes and processes the detection information transmitted by the motion detection section and issues an execution instruction
  • the air pressure adjustment component adjusts the air pressure in the pneumatic expansion and contraction component according to the execution instruction, so that the wearing training part changes between the flexion state and the extension state, so as to realize the hand mirror image of the second hand train.
  • FIG. 8 is a schematic diagram of the wearing training part in an extended state in some embodiments of the present invention
  • FIG. 9 is a schematic diagram of the wearing training part in a flexed state in some embodiments of the present invention.
  • the user wears the wearing training part 5 with the left hand and the wearing part 3 with the right hand.
  • the wearing part 3 is provided with the hand motion detection device.
  • the motion detection device includes a motion detection part 1, the motion detection part 1 is arranged on the back of the finger pad of the finger part of the wearing part 3, and the motion detection part 1 includes five motion detection parts, which are respectively the first motion detection part 11.
  • the movement of the index finger is taken as an example.
  • the rehabilitation device is activated, and the pneumatic telescopic assembly on the wearing training part 5 drives the index finger of the second hand to be in a straight state.
  • the index finger of the wearing part 3 performs a bending motion, referring to FIG. 7 and FIG.
  • the first conductive adhesive layer (not marked in the figure) in the second motion detection part 12 and the The second conductive adhesive layers (not shown in the figure) are in contact with each other to generate detection information and transmit it to the control unit (not shown in the figure), and the control unit (not shown in the figure) controls the obtained detection information according to the
  • the air pressure adjustment component adjusts the pressure of the pneumatic expansion and contraction component (not marked in the figure) on the index finger of the wearing training part 5, that is, the air pressure adjustment component controls the increase of the internal air pressure of the bellows 52, and the bellows The length of 52 becomes larger, and it is in a stretched state, so that the corresponding index finger on the wearing training part 5 can achieve mirror flexion movement.
  • the control part controls the air pressure adjustment component to adjust the air pressure of the pneumatic expansion and contraction component (not shown in the figure) on the index finger of the wearing training part 5 to decrease, that is, The internal air pressure of the bellows 52 is reduced, the length of the bellows 52 is reduced, and the bellows 52 is in a compressed state, so that the corresponding index finger on the wearing training part 5 can perform mirror stretching exercises and straighten the index finger.
  • the second motion detection part 12 on the first hand is arranged in close contact with the index finger to collect motion information of the finger joints of the index finger, so as to autonomously control the index finger of the second hand to perform mirror training.
  • the mirror training principle of other fingers is the same.
  • the first motion detection part 11 on the first hand is set to fit the thumb to collect the motion information of the finger joints of the thumb, so as to realize the autonomous control of the second hand.
  • the thumb of the first hand is used for mirror image training;
  • the third motion detection part 13 on the first hand is arranged to fit the middle finger to collect the motion information of the finger joints of the middle finger, so as to realize autonomous control of the middle finger of the second hand.
  • the fourth motion detection part 14 on the first hand is arranged to fit the ring finger to collect the motion information of the finger joints of the ring finger, so as to realize the independent control of the ring finger of the second hand to perform mirror training;
  • the fifth motion detection unit 15 on the first hand is arranged to fit the little finger to collect motion information of the finger joints of the little finger, so as to autonomously control the little finger of the second hand to perform mirror training.
  • the user can autonomously control the affected hand to perform rehabilitation actions by the unaffected hand to complete the mirror training, and the user can autonomously control the flexion and extension of the finger joints of the first hand,
  • the user's sense of participation in the treatment is enhanced, and the rehabilitation training effect is improved.
  • the motion detection units do not affect each other, are triggered independently, and the collected detection signals are also independently transmitted to the control unit.
  • the user wears the wearing training part 5 with the left hand and the wearing part 3 with the right hand, and the wearing part 3 is provided with the hand motion detection device, and the hand motion detection device Including a motion detection part 1, the motion detection part 1 is arranged on the back of the finger belly of the wearing part 3, and the motion detection part 1 includes five motion detection parts, which are the first motion detection part 11, the first Two motion detection units 12, third motion detection units 13, fourth motion detection units 14, and fifth motion detection units 15, each of which spans two (eg thumb) or three (such as thumb) of a single finger.
  • Fingers other than the thumb) finger joint fingers to detect the overall motion state of a single finger the first motion detection unit 11, the second motion detection unit 12, the third motion detection unit 13, the The fourth motion detection part 14 and the fifth motion detection part 15 are connected in series and are connected with the control part through a bus wire.
  • the detection information is transmitted to the control part, and the control part controls the air pressure adjustment component to adjust the air pressure in the pneumatic expansion and contraction components set on all the fingers on the wearing training part according to the detection information, so that the The whole wearing training section is changed between flexion and extension conditions to achieve hand mirror training of the second hand.
  • the user wears the wearing training part with the left hand and the wearing part with the right hand
  • the hand movement detection device is provided on the wearing part
  • the hand movement detection device includes a motion detection part to detect the joint movement of any finger of the right hand and transmit the collected detection information to the control part
  • the control part controls the air pressure adjustment component to adjust the wearing training according to the detection information
  • the air pressure in the pneumatic telescopic assembly set on all the fingers on the upper part makes the whole of the wearing training part change between the flexion state and the extension state, so as to realize the hand mirror training of the second hand, that is, Using a motion detection unit provided on the right hand, the five fingers of the left hand are controlled to jointly perform flexion and extension movements.
  • each finger of the first hand is provided with three motion detection parts, which are the seventh motion detection part 17 and the eighth motion detection part respectively.
  • the detection part 18 and the ninth motion detection part 19, and the seventh motion detection part 17, the eighth motion detection part 18 and the ninth motion detection part 19 respectively detect the motion of one finger joint, and respectively It is connected with the control part to detect the movement state of a single finger joint.
  • the bellows on the wearing training part that fits each finger joint passes through the connecting trachea and the air pressure adjusting assembly individually, so that the control part can receive a certain pressure of the first hand.
  • control the corresponding finger joint of the corresponding finger on the second hand to perform mirror image training such as the ninth motion detection unit 19 detects the metacarpophalangeal joint of the index finger of the first hand.
  • Movement information when the metacarpophalangeal joint of the index finger of the first hand performs an extension movement and a flexion movement, the ninth movement detection part 19 generates detection information and transmits it to the control part, and the control part controls the
  • the air pressure adjustment component adjusts the air pressure in the bellows provided on the metacarpophalangeal joint of the index finger of the second hand, so that the metacarpophalangeal joint of the index finger performs corresponding extension and flexion movements, so as to realize the metacarpophalangeal joint of the index finger mirror training.
  • each finger of the first hand is provided with three motion detection parts, which are the seventh motion detection part, the eighth motion detection part and the The ninth motion detection part, and the seventh motion detection part, the eighth motion detection part and the ninth motion detection part respectively detect the motion of a finger joint and are connected in series, and are connected with all the joints through a total wire.
  • the control part is connected to detect the movement state of a single finger joint, among the seventh movement detection part, the eighth movement detection part and the ninth movement detection part on each finger of the first hand
  • any one of the first hand detects any finger joint movement of the first hand, it transmits the collected detection information to the control part, and the control part controls the air pressure adjustment component to adjust the wear and tear according to the detection information.
  • the air pressure in the pneumatic telescopic assembly set on all the fingers on the training part makes the whole wearing training part change between the flexion state and the extension state, so as to realize the hand mirror training of the second hand.
  • control unit converts the detection information into angle value information, and controls the air pressure adjustment assembly to adjust the air pressure output to the pneumatic expansion and contraction assembly according to the angle value information, so that all The fingers of the wearing training part realize the flexion of the corresponding angle value, and the detection information generated during the stretching and flexing movement of the fingers of the first hand by the motion detection part is used to realize autonomous control of the wearing training part.
  • the fingers of the training part achieve flexion of the corresponding angle value.
  • the real-time mirror angle control of the fingers of the second hand can be realized by the hand motion detection device.
  • the first conductive adhesive layer (not marked in the figure) in the second movement detection part 12 and the The contact area of the second conductive adhesive layer (not marked in the figure) changes to generate detection information and transmit it to the control part (not marked in the figure), and the control part (not marked in the figure) will obtain the detection information It is converted into corresponding angle value information and air pressure information, and the pressure in the corresponding telescopic assembly of the wearing training part 5 is controlled by the air pressure adjustment component, so that the internal air pressure of the bellows 52 changes, and the bellows 52
  • the control unit converts the detection information into Corresponding angle value information and air pressure information, and control the pressure increase in the corresponding telescopic assembly on the index finger of the wearing training part 5 through the air pressure adjustment component, thereby driving the index finger of the wearing training part 5 to realize the mirror flexion angle change .
  • the control part converts the detection information into the corresponding angle value information and air pressure. information, and control the pressure reduction in the corresponding telescopic component on the index finger of the wearing training part 5 through the air pressure adjustment component, so as to drive the index finger of the wearing training part 5 to realize the mirror flexion angle change.
  • control unit controls the start or stop of the movement of the wearing training unit according to the detection information, and the movement detection unit performs extension and flexion movements on the fingers of the first hand
  • the detection information generated during the process is used to realize autonomous control of the wearing training part to start the movement, and the detection information generated by the movement detection part when the fingers of the first hand are straightened is used to achieve autonomous control.
  • the wearing training part is controlled to stop exercising.
  • one of the finger joints of the first hand is provided with one of the motion detection parts, and the user uses the motion detection part to perform stretching motion and The detection information is generated during the flexion movement, so as to realize the control of the wearing training part to start the movement, and the user does not generate the detection information through the movement detection part when the finger joint of the first hand is straightened, In order to realize the control of the wearing training part to stop exercising.
  • the user can set the motion detection portion on the plurality of fingers of the first hand as a control switch for the motion of the wearing training portion through the button portion on the device casing, using
  • the user can simultaneously perform stretching and stretching exercises on a plurality of fingers of the first hand through the plurality of motion detection parts on the first hand.
  • the detection information is generated during the flexion exercise, so as to realize the autonomous control of the wearing training part to start the exercise.
  • the detection information is not generated when one finger is straightened at the same time, so as to realize the autonomous control of the wearing training part to stop the movement.
  • the user can set the motion detection part on a certain finger of the first hand as a control switch for the motion of the wearing training part through the button part on the device shell,
  • the user can perform stretching exercise on the finger of the first hand by the motion detection part on the finger of the first hand and the detection information is generated during the flexion movement, so as to realize the control of the wearing training part to start the movement, and the movement detection part on the first hand of the first hand
  • the detection information is not generated when the finger is straightened, so as to control the wearing training part to stop moving.
  • an autonomous control system comprising an execution part and the hand motion detection device, the execution part is connected with the control part; the execution part is used for executing according to the execution part Command movement.
  • the execution unit includes a drive unit, and the drive unit is configured to drive an image to move or a sound to change or drive a game to run according to the motion execution instruction, and the image, sound and game are stored in the terminal.
  • the execution part drives the image movement or the sound change or drives the game to run according to the execution instruction, so that the user can independently adjust the collection of the motion information of the finger joints of the first hand according to the feedback result.
  • Carry out autonomous hand training which is more flexible, more suitable for the actual situation of the user, improves the training effect, and feedbacks the fingers of the first hand by driving image movement or driving sound changes or driving the game to run.
  • the joint movement information enables users to obtain training feedback results in real time, the training effect is more intuitive, and can accurately reflect the completion of the patient's hand movements. Driven by the fun of the game, the user is willing to carry out independent training and training compliance. High sex, improve training effect.
  • game software is stored in a terminal device, the terminal device is connected to the control unit, and three motion detection units are provided on a certain finger of the user's first hand, and the Connected with the control part, they are the seventh motion detection part, the eighth motion detection part and the ninth motion detection part, respectively, the seventh motion detection part is arranged to fit the distal interphalangeal joint, so The seventh motion detection part generates detection information during the extension movement and flexion movement of the distal interphalangeal joint, so as to collect the motion information of the distal interphalangeal joint; the eighth motion detection part is arranged to fit the proximal interphalangeal joint , the eighth motion detection part generates detection information during the extension movement and flexion movement of the proximal interphalangeal joint, so as to collect the motion information of the proximal interphalangeal joint; the ninth motion detection part is arranged to fit the metacarpophalangeal joint, The ninth motion detection unit generates detection information during the extension and flexion motion of the metacar
  • the ninth motion detection unit When the metacarpophalangeal joint flexes, the ninth motion detection unit The first conductive adhesive layer and the second conductive adhesive layer are in contact with each other to generate resistance value information that gradually decreases in resistance value and send it to the control unit.
  • the control unit controls the left and right sides of the characters in the game.
  • the control part controls the characters in the game to move to the right; similarly, when the proximal interphalangeal joint flexes, the control part controls the characters in the game to move up, when the When the proximal interphalangeal joint stretches, the control part controls the characters in the game to move down, and when the distal interphalangeal joint flexes, the control part controls the characters in the game to crawl.
  • the control part controls the jumping of the characters in the game, and the control part controls the movement speed of the characters in the game according to the variation of the resistance value.
  • the motion detection parts are provided on multiple fingers of the user, and the motion detection parts are respectively connected with the control parts, and the control parts are based on the motion of each finger.
  • the detection information of the detection unit controls different actions of the characters in the game.
  • a plurality of fingers of the user are provided with the motion detection parts, and each finger is provided with a plurality of the motion detection parts to detect the motion of a single finger joint, and the motion The detection parts are respectively connected with the control parts, so that the control parts can respectively control more actions of the characters in the game.
  • the wearing training part and the setting and wearing training part can be worn on the hands.
  • the connected air pressure adjustment assembly is used to assist in autonomous training, that is, the motion detection part and the pneumatic expansion and contraction assembly can be provided on the same glove at the same time.

Abstract

一种手部运动检测装置，包括运动检测部(1)，运动检测部(1)设置于第一手部的手指关节，且在第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，使得运动检测部(1)随第一手部的手指进行伸展运动和屈曲运动能实时产生反馈手指关节运动的检测信息，运动检测部(1)连接控制部(2)，运动检测部(1)将检测信息传输给控制部(2)，控制部(2)根据检测信息发出执行指令，实现了实时准确的采集第一手部的手指关节的运动信息并能及时将检测信息传输给控制部(2)。本装置还提供了手部运动检测装置的控制方法、康复装置和自主控制系统。

Description

手部运动检测装置及控制方法、康复装置和自主控制系统 技术领域
本发明涉及手指康复训练技术领域，尤其涉及一种手部运动检测装置及控制方法、康复装置和自主控制系统。
背景技术
据统计，中国目前有超过1000万的脑卒中患者，同时每年新增患者数量超过200万。脑卒中后手功能障碍是最常见也是较难恢复的功能障碍，手功能障碍患者需要进行长期的手部康复训练以恢复手部功能。随着康复机器人技术的进步，越来越多的手功能康复机器人被运用到患者手功能障碍的恢复中来。
公开号为KR1020180072264A的专利公开了一种手部康复训练系统及训练方法、公开号为KR1020180134083A的专利公开了一种球型手关节康复装置和包括该装置的康复装置、公开号为CN208426594U的专利公开的专利了一种抗手部瘢痕挛缩握力器，该3个发明均采用握拳按压气囊的方式进行手部运动信息采集，其存在手指关节运动信息采集准确度不高，无法采集到手指关节的实时运动信息，而且不能实现采集单根手指关节的运动等问题。而现有技术中采用角度传感器等进行单根手指关节的运动信息采集的成本较高。
公开号为CN110478195A的专利公开了一种传感器装置和一体式手指关节康复手套，所述传感器装置包括：手指部，所述手指部适于套设在使用者的手指上，随所述使用者的手指弯曲而弯曲；所述手指部具有手指传感器，所述手指传感器用于将所述手指部的动作传递给控制器；所述控制器在接收所述手指传感器发出的信号后发出触发信号；其中，所述控制器通过信号线和所述手指传感器连接。这样，控制信号是根据使用者的手指来控制产生的，可以是患者 的家属甚至是患者本人，从而更加了解患者的实际情况，进而产生更加准确的控制信号。但该专利存在以下缺陷：(1)永磁铁会有磁力减弱，因外部原因导致磁性被消除，磁铁脱落等风险；(2)由于磁性体会对外界设备产生电磁干扰或者受外界影响，因此其对试用场景和使用条件具有一定的限制；(3)重量较大，使用者的负荷较重，会影响手指运动；(4)一组永磁体和霍尔开关只能检测单个关节，若要单根手指多个关节的运动，则需要多组永磁体和霍尔开关，重量较大，会影响手指运动，不能检测多个关节。
因此，有必要提供一种新型的手部运动检测装置及控制方法、康复装置和自主控制系统以解决现有技术中存在的上述问题。
发明内容
本发明的目的在于提供一种手部运动检测装置及控制方法、康复装置和自主控制系统，以实现实时准确的采集第一手部的手指关节的运动信息。
为实现上述目的，本发明的所述手部运动检测装置包括运动检测部，包括运动检测部，所述运动检测部设置于第一手部的手指关节，且在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，所述运动检测部连接控制部，所述运动检测部将所述检测信息传输给所述控制部，所述控制部根据所述检测信息发出执行指令。
本发明的手部运动检测装置的有益效果在于：通过所述运动检测部设置于第一手部的手指关节，且在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，使得所述运动检测部随所述第一手部的手指进行伸展运动和屈曲运动能实时产生反馈手指关节运动的检测信息，所述运动检测部连接控制部，所述运动检测部将所述检测信息传输给所述控制部，所述控制部根据所述检测信息发出执行指令，实现了实时准确的采集第一手部的手指关节的运动信息并能及时将所述检测信息传输给所述控制部。
优选的，所述运动检测部包括隔离设置的第一检测单元和第二检测单元，当所述第一手部的手指弯曲时，所述第一检测单元接触所述第二检测单元从而 触发产生所述检测信息。其有益效果在于：所述第一检测单元和所述第二检测单元随所述第一手部的手指弯曲而接触产生所述检测信息，实现了实时准确的采集第一手部的手指关节的运动信息。
优选的，所述运动检测部跨至少一个手指关节设置，且在所述至少一个手指关节进行伸展运动和屈曲运动过程中产生所述检测信息。其有益效果在于：使得所述运动检测部能够检测至少一个手指关节的运动信息。
优选的，所述第一手部的至少一根手指设置有所述运动检测部，且单根手指设有至少一个所述运动检测部。其有益效果在于：使得所述运动检测部能够检测所述第一手部的至少一根手指的手指关节的运动信息。
优选的，每个所述手指关节设置有多个所述运动检测部。其有益效果在于：提升了第一手部的手指关节的运动信息检测的准确率，且可以检测第一手部的手指关节的多个方向的运动角度，如掌指关节的内收运动的角度和外展运动的角度。
优选的，所述手部运动检测装置还包括穿戴部，所述穿戴部呈手套形状且包括手指部，所述运动检测部设置于所述手指部。其有益效果在于：所述运动检测部设置在所述穿戴部上，能有效避免所述运动检测部从使用者手部脱落，便于使用者使用所述手部运动检测装置，尤其适用于手部不灵敏的人群使用。
优选的，所述手指部设有容纳部，所述运动检测部设置在所述容纳部内。其有益效果在于：设置简单，且能有效防止所述运动检测部和所述穿戴部的手指部相对滑动，保证所述运动检测部可以跟随使用者的手指一同运动，且便于拆卸所述运动检测部，清洗所述穿戴部。
优选的，所述运动检测部通过黏胶、魔术贴、磁铁、缝线、卡扣、指套和绑带中的任意一种固定于所述手指部。其有益效果在于：能有效防止所述运动检测部和所述穿戴部的手指部相对滑动，保证所述运动检测部可以跟随使用者的手指一同运动。
优选的，所述第一检测单元包括第一导电胶层，所述第二检测单元包括第二导电胶层，所述第一导电胶层和所述第二导电胶层互不接触且分别设置在弹性外壳相对的内侧壁，当所述第一手部的手指关节处于屈曲状态时，所述第一导电胶层和所述第二导电胶层相互接触产生所述检测信息。其有益效果在于：结构简单，设计巧妙，成本低，而且第一导电胶层、第二导电胶层和所述弹性外柔软性好，更容易随所述第一手部的手指的伸展运动和屈曲运动而弯曲。
优选的，所述第一导电胶层和所述第二导电胶层均由导电胶制成。其有益效果在于：结构简单，设计巧妙，成本低。
优选的，所述第一导电胶层和所述第二导电胶层包括导电胶和内嵌于所述导电胶的导线。其有益效果在于：进一步保证导电胶的导电效果。
进一步优选的，所述控制部与所述运动检测部经由所述导线电连接。其有益效果在于：方便所述控制部利用所述导线与所述运动检测部进行连接，连接方式简单，成本低、信息传输稳定。
优选的，所述弹性外壳的一端还设有所述导电元件，所述导电元件的上下端面分别与所述第一导电胶层和所述第二导电胶层接触，所述控制部与所述运动检测部经由所述导电元件电连接。其有益效果在于：所述导电元件的上下端面分别与所述第一导电胶层和所述第二导电胶层接触，不仅增加了所述运动检测部的头端的支撑强度，而且电信息采集更为灵敏。
优选的，所述手部运动检测装置的控制方法，包括：
S1、所述运动检测部在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，并将所述检测信息传输给所述控制部；
S2、所述控制部根据所述检测信息发出执行指令。其有益效果在于：实现实时准确的采集第一手部的手指关节的运动信息。
优选的，本发明还提供一种康复装置，包括所述的手部运动检测装置以采集检测信息，所述康复装置还包括气压调节组件和穿戴训练部，所述穿戴训练 部上设有气动伸缩组件，所述气压调节组件与所述气动伸缩组件连接；所述气压调节组件连接控制部，所述控制部根据所述检测信息控制所述气压调节组件调节所述气动伸缩组件内的气压，使所述穿戴训练部在屈曲工况和伸展工况之间变化，以实现第二手部的手部镜像训练。
本发明的康复装置的有益效果在于：通过所述手部运动检测装置以采集检测信息即可实现第一手部的手指关节的运动信息的采集，所述控制部根据所述检测信息控制所述气压调节组件调节所述气动伸缩组件内的气压，使所述穿戴训练部在屈曲工况和伸展工况之间变化，以实现第二手部的手部镜像训练，使得能通过所述第一手部的工况来调节所述第二手部的工况，即控制所述穿戴训练部的信息是根据使用者的手指来控制产生的，可以是患者的家属甚至是患者本人，从而能实现自主调节第二手部的康复训练时间、动作和强度，使得能够对所述穿戴训练部进行更好的调节，满足所述第二手部的康复训练需求。
优选的，本发明还提供一种自主控制系统，包括执行部和所述的手部运动检测装置，所述执行部连接控制部。
本发明的自主控制系统的有益效果在于：通过所述执行部根据所述执行指令运动以反馈所述第一手部的手指关节的运动信息，使得使用者不仅能实时得到训练反馈结果，提高了使用者自主训练的积极性，训练的依从性高，而且能自主对所述执行部实现灵活控制。
优选的，所述执行部包括驱动单元，所述驱动单元用于根据所述运动执行指令驱动图像运动或驱动声音变化或驱动游戏运行，所述图像、声音和游戏储存在终端设备中。其有益效果在于：所述执行部根据所述运动执行指令驱动图像运动或驱动声音变化或驱动游戏运行，以使使用者能够根据的反馈结果自主调节所述第一手部的手指关节的运动信息的采集而进行手部自主训练，自主训练灵活性更高，更能贴切使用者的实际情况，提高了训练效果，而且通过驱动图像运动或驱动声音变化或驱动游戏运行以反馈所述第一手部的手指关节的运 动信息，使得使用者能实时得到训练反馈结果，训练效果更直观，且能准确反映患者手部动作的完成度，在游戏乐趣的驱使下，使使用者乐于进行自主训练，训练的依从性高，提高了训练效果。
附图说明
图1为本发明的一些实施例中手部运动检测装置的结构示意图；
图2为本发明的一些实施例中运动检测部设置于手指上的结构示意图；
图3为本发明的又一些实施例中运动检测部设置于手指上的结构示意图；
图4为本发明的一些实施例中运动检测部的结构示意图；
图5为本发明的一些实施例中运动检测部的结构侧视图；
图6为本发明的又一些实施例中运动检测部的结构示意图；
图7为本发明的一些实施例中康复装置的结构示意图；
图8为本发明的一些实施例中穿戴训练部处于伸展工况的示意图；
图9为本发明的一些实施例中穿戴训练部处于屈曲工况的示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。除非另外定义，此处使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本文中使用的“包括”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。
图1为本发明的一些实施例中手部运动检测装置的结构示意图。
针对现有技术存在的问题，本发明的实施例提供了一种手部运动检测装置，参照图1，包括运动检测部1，所述运动检测部1设置于第一手部的手指关节设置，且在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，所述运动检测部1连接控制部2，所述运动检测部1将所述检测信息传输给所述控制部2，所述控制部2根据所述检测信息发出执行指令，使得所述运动检测部随所述第一手部的手指的伸展运动和屈曲运动能实时产生反馈手指关节运动的检测信息，实现了实时准确的采集第一手部的手指关节的运动信息并及时将所述检测信息传输给所述控制部。
本发明的一些实施例中，所述控制部为所述手部运动检测装置自带的部件，且所述运动检测部与所述控制部通过有线或者无线方式连接。
本发明的一些实施例中，所述控制部通过绑带等结构套设在使用者的手腕上。
本发明的一些实施例中，所述控制部通过粘贴或捆绑等方式设置在所述第一手部的手掌部或手心部，优选为手掌部，以防止影响使用者进行手指屈曲运动。
本发明的一些实施例中，所述控制部为与所述手部运动检测装置配合使用的装置所配置的部件，且所述运动检测部与所述控制部通过有线或者无线方式连接。
本发明的一些实施例中，所述运动检测部包括隔离设置的第一检测单元和第二检测单元，当所述第一手部的手指弯曲时，所述第一检测单元接触所述第二检测单元从而触发产生所述检测信息，所述第一检测单元和所述第二检测单元随所述第一手部的手指弯曲而接触产生所述检测信息，实现了实时准确的采集第一手部的手指关节的运动信息。所述第一手部的手指弯曲包括手指处于屈曲状态或者手指进行屈曲变化，即非伸直状态。
本发明的一些实施例中，所述运动检测部包括隔离设置的第一检测单元和第二检测单元，当所述第一手部的手指处于伸直状态时，所述第一检测单元接触所述第二检测单元从而触发产生所述检测信息，当所述第一手部的手指处于非伸直状态时，所述第一检测单元与所述第二检测单元不接触不产生所述检测信息，但实现这种方式时，所述运动检测部的结构比较难实现，而且只在所述第一手部的手指处于伸直状态时，所述第一检测单元才与所述第二检测单元接触产生所述检测信息，即只能检测从弯曲状态到手指处于伸直状态的变化信息，不能检测手指进行伸展运动和屈曲运动过程中产生的反馈手指关节运动的检测信息，可见该实施例的检测范围比较小，实际应用益处不大。
本发明的一些实施例中，所述第一检测单元和所述第二检测单元根据手指关节的屈曲角度变化而触发产生不同的所述检测信息并发送给所述控制部。
本发明的一些实施例中，所述检测信息包括电信息、磁信息、光信息中的任意一种。
本发明的一些实施例中，所述检测信息包括电流、电压、电感、电阻中的至少一种。
本发明的一些具体实施例中，所述检测信息包括电流信息和电阻信息，当所述第一手部的手指关节处于屈曲状态或者屈曲变化时，所述运动检测部随所述第一手部的手指关节运动屈曲而发生形变，所述第一检测单元和所述第二检测单元相互接触产生电流信息；当所述第一手部的手指关节处于伸直状态时，所述运动检测部随所述第一手部的手指关节运动伸直而伸直，所述第一检测单元和所述第二检测单元不接触；当所述第一手部的手指关节屈曲角度发生变化时，所述运动检测部屈曲的角度也发生变化，所述第一检测单元和所述第二检测单元相互接触的面积发生变化导致产生的电阻值信息发生变化；当所述第一手部的手指关节做屈曲运动时，所述运动检测部随之进行屈曲变化，所述第一检测单元和所述第二检测单元相互接触的面积逐渐变大导致产生的电阻值逐渐 变小；当所述第一手部的手指关节做伸展运动时，所述运动检测部随之进行屈曲变化，所述第一检测单元和所述第二检测单元相互接触的面积逐渐变小导致产生的电阻值逐渐变大。
本发明的一些实施例中，所述第一检测单元和所述第二检测单元相互接触时，所述运动检测部的电阻值变化范围为10-1000欧姆，便于实时反应手指关节的屈曲角度，手指关节的屈曲角度值不同，所述运动检测部的电阻值不同，便于所述控制部将所述电阻值信息分析处理得到手指关节的屈曲角度值。
本发明的一些实施例中，所述运动检测部的电阻值变化范围为300-800欧姆，具体的，随手指关节的屈曲角度值不同，所述运动检测部的电阻值可以为350欧姆、400欧姆、500欧姆、600欧姆、650欧姆、700欧姆、750欧姆等。
本发明的一些实施例中，所述运动检测部的电阻值变化范围为30-150欧姆，具体的，随手指关节的屈曲角度值不同，所述运动检测部的电阻值可以为35欧姆、40欧姆、60欧姆、120欧姆、130欧姆、140欧姆等。
本发明的一些实施例中，所述运动检测部的电阻值变化范围为50-100欧姆，具体的，随手指关节的屈曲角度值不同，所述运动检测部的电阻值可以为55欧姆、65欧姆、70欧姆、75欧姆、80欧姆、85欧姆、90欧姆等。
本发明的一些实施例中，所述运动检测部通过粘贴、捆绑或指套等方式设置在所述第一手部的手指上，且所述运动检测部跨所述第一手部的手指关节设置。
本发明的一些实施例中，所述运动检测部设置在所述第一手部的手指的指肚面或指肚背面，所述运动检测部设置位置多样，可以根据实际情况选择设置在所述第一手部的手指的指肚面或指肚背面，所述运动检测部贴合所述第一手部的手指的指肚面或指肚背面设置更简单，且有助于所述运动检测部随所述第一手部的手指的伸展运动和屈曲运动而产生检测信息，提高第一手部的手指关节的运动信息检测的准确率。
本发明的实施例所述指肚背面是指手指上与手背同面的面，即手指有指甲盖的一面，所述指肚面是指手指上与手心同面的面，即与所述指肚背面相对的一面，所述第一手部为使用者的左手或右手。
本发明的一些实施例中，参照图1，所述手部运动检测装置还包括穿戴部3，所述穿戴部3呈手套形状且包括手指部，所述运动检测部1设置于所述手指部，所述运动检测部1设置在所述穿戴部3上，能有效避免所述运动检测部1从使用者手部脱落，便于使用者使用所述手部运动检测装置，尤其适用于手部不灵敏的人群使用。在本发明的某些其他优选实施例中，所述运动检测部1设置于所述手指部的指肚面或指肚背面。
本发明的一些实施例中，所述控制部为所述手部运动检测装置自带的部件时，所述控制部设置在所述穿戴部的手掌部或手心部。
本发明的一些实施例中，所述手指部设有容纳部，所述运动检测部设置在所述容纳部内，且所述运动检测部与所述容纳部可拆卸连接，设置简单，且能有效防止所述运动检测部和所述穿戴部的手指部相对滑动，保证所述运动检测部可以跟随使用者的手指一同运动，且便于拆卸所述运动检测部，清洗所述穿戴部。
本发明的一些实施例中，所述容纳部为安装袋结构，所述安装袋设有开口，所述开口用于插入所述运动检测部。
本发明的一些实施例中，所述穿戴部还包括缝合线，所述缝合线用于将所述容纳部的边缘缝合固定在所述穿戴部的手指部，通过缝合线缝合固定所述容纳部于所述穿戴部的手指部方便简单，牢固耐用，成本低。
本发明的一些实施例中，所述运动检测部通过黏胶、魔术贴、磁铁、缝线、卡扣、指套和绑带中的任意一种固定于所述手指部，能有效防止所述运动检测部和所述穿戴部的手指部相对滑动，保证所述运动检测部可以跟随使用者的手指一同运动。
本发明的一些实施例中，所述穿戴部也可以是绑带结构，或能将所述运动检测部固定于所述手指部的其他结构，如布条、绳、线、指套等。
本发明的一些实施例中，所述运动检测部设有多个且分别设置于所述第一手部的单根手指，使得所述运动检测部能够分别检测单根手指的手指关节的运动信息。
本发明的一些实施例中，所述第一手部的至少一根手指设置有所述运动检测部，且单根手指设有至少一个所述运动检测部，使得所述运动检测部能够检测所述第一手部的至少一根手指的手指关节的运动信息。
本发明的一些实施例中，所述运动检测部设有多个且分别设置于所述第一手部的单根手指，所述运动检测部并联连接且分别与所述控制部连接以分别检测所述单根手指关节进行伸展运动和屈曲运动过程中产生所述检测信息，使得所述运动检测部能够分别检测单根手指的手指关节的运动信息。
本发明的一些实施例中，参考图1，所述运动检测部1设有5个，分别为第一运动检测部11、第二运动检测部12、第三运动检测部13、第四运动检测部14和第五运动检测部15，所述5个运动检测部分别与所述控制部连接，所述第一运动检测部11贴合大拇指设置以采集大拇指的手指关节的运动信息并传输给所述控制部，所述第二运动检测部12贴合食指设置以采集食指的手指关节的运动信息并传输给所述控制部，第三运动检测部13贴合中指设置以采集中指的手指关节的运动信息并传输给所述控制部，所述第四运动检测部14贴合无名指设置以采集无名指的手指关节的运动信息并传输给所述控制部，所述第五运动检测部15贴合小拇指设置以采集小拇指的手指关节的运动信息并传输给所述控制部。
本发明的一些实施例中，所述运动检测部设有多个且分别设置于所述第一手部的单根手指，且所述运动检测部串联连接且与所述控制部连接，以在检测到任意一根所述手指关节进行伸展运动和屈曲运动就产生所述检测信息并传输 给所述控制部。
本发明的一些实施例中，所述运动检测部跨至少一个手指关节设置，且在所述至少一个手指关节进行伸展运动和屈曲运动过程中产生所述检测信息，使得所述运动检测部能够检测至少一个手指关节的运动信息。
图2为本发明的一些实施例中运动检测部设置于手指上的结构示意图。
本发明的一些实施例中，参照图2，所述运动检测部设有1个，为第六运动检测部16，所述第六运动检测部16的一端跨过远端指间关节且贴合设置，另一端跨过掌指关节且贴合设置，中部跨过近端指间关节且贴合设置，以检测所述远端指间关节、所述近端指间关节、所述掌指关节共3个手指关节的运动，即所述第六运动检测部16同时检测整根手指关节的运动，以检测整根手指的整体运动状态，在远端指间关节、近端指间关节、掌指关节任意一个手指关节运动时，所述第六运动检测部160都会随之产生检测信息以发送给所述控制部。
本发明的一些实施例中，参照图2，所述运动检测部16设置在所述第一手部的手指的指肚面，所述运动检测部16贴合所述第一手部的手指的指肚面设置更简单，且有助于所述运动检测部在所所述第一手部的手指的伸展运动和屈曲运动过程中产生检测信息，提高第一手部的手指关节的运动信息检测的准确率。
图3为本发明的又一些实施例中运动检测部设置于手指上的结构示意图。
本发明的一些实施例中，参照图3，所述运动检测部设有3个，分别为第七运动检测部17、第八运动检测部18和第九运动检测部19，每个运动检测部只检测一个手指关节的运动，且各运动检测部相互独立，分别采集的手指关节的运动信息之间互不影响，所述第七运动检测部17跨过远端指间关节且贴合设置，所述第七运动检测部17在远端指间关节的伸展运动和屈曲运动过程中产生检测信息，以采集远端指间关节的运动信息；所述第八运动检测部18跨过近端指间关节且贴合设置，所述第八运动检测部18在近端指间关节的伸展运动和屈曲运动过程中产生检测信息，以采集近端指间关节的运动信息；所述第九运动检测 部19跨过掌指关节且贴合设置，所述第九运动检测部13在掌指关节的伸展运动和屈曲运动过程中产生检测信息，以采集掌指关节的运动信息。
本发明的一些实施例中，参照图3，所述第七运动检测部17、所述第八运动检测部18和所述第九运动检测部19均设置在所述第一手部的手指的指肚背面，所述运动检测部贴合所述第一手部的手指的指肚背面设置更简单，且有助于所述运动检测部在所述第一手部的手指的伸展运动和屈曲运动过程中产生检测信息，提高第一手部的手指关节的运动信息检测的准确率。
本发明的一些实施例中，所述第七运动检测部17、所述第八运动检测部18和所述第九运动检测部19并联连接，且分别与所述控制部连接以分别检测单个手指关节进行伸展运动和屈曲运动过程中产生所述检测信息。
本发明的一些实施例中，所述第七运动检测部17、所述第八运动检测部18和所述第九运动检测部19串联连接，且通过一根总导线与所述控制部连接，以在检测到任意一个手指关节进行伸展运动和屈曲运动就产生所述检测信息并传输给所述控制部。
本发明的一些实施例中，每个所述手指关节设置有多个所述运动检测部，提升了第一手部的手指关节的运动信息检测的准确率，如同一手指关节在手指的指肚背面和的指肚面均分别设置一个所述运动检测部。
在本发明的某些其他优选实施例中，每个所述手指关节设置有多个所述运动检测部，以检测手指关节的多个方向的运动角度，如所述运动检测部设置在掌指关节的指侧面，所述指侧面是指指肚面和指肚背面之间的手指侧面，以检测掌指关节的内收运动的角度和外展运动的角度。
本发明的一些具体实施例中，使用者的第一手部穿戴所述手部运动检测装置，所述第一手部某一手指掌指关节布有所述运动检测部，优选为跨掌指关节设置且在掌指关节的指侧面设置，当所述第一手部的手指关节处于伸直状态时，所述运动检测部随所述第一手部的手指关节运动伸直而伸直，所述第一检测单 元和所述第二检测单元不接触；当手指运动，所述掌指关节旋转时，所述第一检测单元和所述第二检测单元相对弯曲发生接触，产生检测信息；随着所述掌指关节的旋转角度的增加，所述第一检测单元和所述第二检测单元的接触面积增加，产生的检测信息发生变化。本发明的一些实施例中，所述检测信息为电阻信息，随着所述第一检测单元和所述第二检测单元的接触面积增加使得产生电阻值减小的电阻信息，根据电阻值信息，可以获得所述掌指关节的旋转角度。
本发明的一些实施例中，所述第一检测单元包括第一导电胶层，所述第二检测单元包括第二导电胶层，所述第一导电胶层和所述第二导电胶层互不接触且分别设置在弹性外壳相对的内侧壁，当所述第一手部的手指关节处于伸直状态时，所述第一导电胶层和所述第二导电胶层互不接触，当所述第一手部的手指关节处于屈曲状态时，所述第一导电胶层和所述第二导电胶层相互接触产生所述检测信息，结构简单，设计巧妙，成本低，而且第一导电胶层、第二导电胶层和所述弹性外柔软性好，更容易随所述第一手部的手指的伸展运动和屈曲运动而弯曲。
图4为本发明的一些实施例中运动检测部的结构示意图；图5为本发明的一些实施例中运动检测部的结构侧视图。
本发明的一些实施例中，参考图4和图5，所述第一检测单元包括第一导电胶层1113，所述第二检测单元包括第二导电胶层1114，所述第一导电胶层1113和所述第二导电胶层1114互不接触且分别设置在弹性外壳1111相对的内侧壁，所述第一导电胶层1113和所述第二导电胶层1114均包括导电胶和内嵌于所述导电胶的导线1112，所述控制部(图中未标示)与所述运动检测部经由所述导线1112电连接，所述导线1112通过连接导线与所述控制部(图中未标示)连接，连接方式简单，成本低、信息传输稳定。在本发明的某些其他优选实施例中，所述导线1112为金属导电线。在本发明的某些其他进一步优选实施例中，所述导线1112为铜丝线。
图6为本发明的又一些实施例中运动检测部的结构示意图。
本发明的另一些实施例中，参考图5和图6，图6与图4的区别在于，所述弹性外壳1111的一端还设有导电元件1115，所述导电元件1115的上下端面分别与所述第一导电胶层1113和所述第二导电胶层1114接触，所述控制部(图中未标示)与所述运动检测部经由所述导电元件1115电连接，所述导电元件1115通过连接导线与所述控制部(图中未标示)连接,所述导电元件1115的上下端面分别与所述第一导电胶层1113和所述第二导电胶层1114接触，不仅增加了所述运动检测部的头端的支撑强度，而且电信息采集更为灵敏。在本发明的某些其他优选实施例中，所述导电元件为头部端子。
本发明的再一些实施例中，所述第一检测单元包括第一导电胶层1113，所述第二检测单元包括第二导电胶层1114，所述第一导电胶层1113和所述第二导电胶层1114互不接触且分别设置在弹性外壳1111相对的内侧壁，所述第一导电胶层1113和所述第二导电胶层1114均由导电胶制成，所述弹性外壳1111的一端还设有导电元件1115，所述导电元件1115的上下端面分别与所述第一导电胶层1113和所述第二导电胶层1114接触，所述控制部(图中未标示)与所述运动检测部经由所述导电元件1115电连接，所述导电元件1115通过连接导线与所述控制部(图中未标示)连接。
具体的，所述检测信息包括电流信息和电阻信息，当所述第一手部的手指关节处于屈曲状态或进行屈曲运动时，所述运动检测部随所述第一手部的手指关节运动屈曲，所述弹性外壳1111发生形变，所述第一导电胶层1113和所述第二导电胶层1114相互接触产生电流信息；当所述第一手部的手指关节处于伸直状态时，所述运动检测部随所述第一手部的手指关节运动伸直，所述弹性外壳1111回弹伸直，所述第一导电胶层1113和所述第二导电胶层1114不接触；当所述第一手部的手指关节屈曲角度发生变化时，所述运动检测部屈曲的角度也发生变化，所述第一导电胶层1113和所述第二导电胶层1114相互接触的面积发生变化导致产生的电阻值信息发生变化；当所述第一手部的手指关节做屈 曲运动时，所述运动检测部随之进行屈曲变化，所述第一导电胶层1113和所述第二导电胶层1114相互接触的面积逐渐变大导致产生的电阻值逐渐变小；当所述第一手部的手指关节做伸展运动时，所述运动检测部随之进行屈曲变化，所述第一导电胶层1113和所述第二导电胶层1114相互接触的面积逐渐变小导致产生的电阻值逐渐变大。
本发明的一些实施例中，所述弹性外壳为硅橡胶制作而成，硅橡胶容易发生形变，使得当所述第一手部的手指关节屈曲时，所述第一导电胶层和所述第二导电胶层容易相互接触，保证了第一手部的手指关节的运动信息检测的灵敏性。
本发明的一些实施例中，所述弹性外壳的至少一个表面为凹凸面，即在所述弹性外壳的至少一个表面设有凸点、凹凸条纹、凹凸花纹或图案等以构成凹凸面，凹凸面加工容易，而且能起到很好地防滑效果，防止所述运动检测部和所述第一手部的手指或所述穿戴部的手指部相对滑动。
本发明的一些实施例中，所述弹性外壳为狭长型条状结构，方便将运动检测部设置在所述第一手部的手指上检测手指关节的运动角度信息。
本发明的一些实施例中，所述弹性外壳的长度为10-140mm。
本发明的一些实施例中，所述弹性外壳的长度为10-20mm，适用于儿童进行单个手指关节的运动信息的采集。
本发明的一些实施例中，所述弹性外壳的长度为15-50mm，适用于儿童进行单根手指的手指关节的运动信息的采集。
本发明的一些实施例中，所述弹性外壳的长度为10-30mm，适用于成人进行单个手指关节的运动信息的采集。
本发明的一些实施例中，所述弹性外壳的长度为40-140mm，适用于成人进行单根手指的手指关节的运动信息的采集，具体为60mm、70mm、80mm、100mm或110mm等。
本发明的一些实施例中，所述弹性外壳的纵截面高度为0.5-6mm。
本发明的一些实施例中，所述弹性外壳的纵截面高度为6mm，有助于提高第一手部的手指关节的运动信息采集的灵敏性和精确性。
本发明的一些实施例中，所述弹性外壳的纵截面高度为0.5mm，便于所述运动检测部贴合在手指上。
本发明的一些实施例中，所述弹性外壳的纵截面高度为2mm、4mm、5mm、3.5mm或5.8mm。
本发明的一些实施例中，所述弹性外壳的宽度为0.5-12mm。
本发明的一些实施例中，所述弹性外壳的宽度为0.5mm，便于所述运动检测部贴合在手指上。
本发明的一些实施例中，所述弹性外壳的宽度为12mm，有助于提高第一手部的手指关节的运动信息采集的灵敏性和精确性。
本发明的一些实施例中，所述弹性外壳的宽度为1mm、2mm、5mm、7mm或10mm。
本发明的一些优选实施例中，所述弹性外壳的长为110mm，宽为7mm，纵截面高度为4mm。
图7为本发明的一些实施例中康复装置的结构示意图。
本发明的一些实施例中，提供了一种康复装置，参考图7，包括所述的手部运动检测装置，所述手部运动检测装置包括运动检测部1，所述运动检测部设置于第一手部的手指关节，且在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，所述康复装置还包括气压调节组件(图中未标示)和穿戴训练部5，所述穿戴训练部5上设有气动伸缩组件(图中未标示)，所述气压调节组件(图中未标示)通过气管组件(图中未标示)与气动伸缩组件(图中未标示)连接；所述气压调节组件(图中未标示)与控制部(图中未标示)连接，所述控制部(图中未标示)用于根据所述检测信息控制所述 气压调节组件(图中未标示)调节所述气动伸缩组件(图中未标示)内的气压，以使所述穿戴训练部5在屈曲工况和伸展工况之间变化，以实现第二手部的手部镜像训练。使得能通过所述第一手部的工况来调节所述第二手部的工况，即通过调节控制所述第一手部的手指关节的运动信息采集就能实现自主调节第二手部康复训练时间、动作和强度，使得能够对所述穿戴训练部进行更好的调节，满足所述第二手部的训练需求。驱动所述气动伸缩组件运动的所述气压调节组件包括气泵、控制阀、以及气路系统等，所述气压调节组件为本领域的常规手段，在此不做赘述。本发明的一些具体实施例中，所述气压调节组件调节所述气动伸缩组件内的气压通过控制所述气压调节组件向所述气动伸缩组件的充气或抽气而实现。本发明的另一些具体实施例中，所述气压调节组件调节所述气动伸缩组件内的气压通过控制所述气压调节组件向所述气动伸缩组件的充气量而实现，如通过控制所述气压调节组件中的电磁阀和气路而进行调节。
本发明的一些实施例中，所述控制部为所述康复装置自带的部件，将所述手部运动检测装置与所述控制部连接即可使用。
本发明的一些实施例中，参照图7，所述康复装置还包括装置外壳4，所述气压调节组件和所述控制部设置于所述装置外壳4内。
本发明的另一些实施例中，所述控制部为所述手部运动检测装置自带的部件，将所述控制部与所述气压调节组件连接即可使用。
本发明的实施例中，所述第一手部和所述第二手部均为使用者的左手或右手，所述镜像训练是指第二手部参照第一手部的运动而运动。
本发明的一些具体实施例中，左手手套形状的所述穿戴训练部和右手手套形状的所述穿戴部为一组，右手手套形状的所述穿戴训练部和左手手套形状的所述穿戴部为一组。在使用时，根据患者的需求选择穿戴部和穿戴训练部与所述装置外壳电连接。
本发明的一些实施例中，参照图7，所述穿戴训练部5呈手套形状，所述气 动伸缩组件具体包括固定在所述穿戴训练部5上的连接气管51和波纹管52以及气管组件(图中未标示)，所述连接气管51和所述波纹管52构成一套气动伸缩组件(图中未标示)。所述穿戴训练部5的每根手指上均设有一套气动伸缩组件(图中未标示)，且每套气动伸缩组件(图中未标示)通过气管组件(图中未标示)分别连接所述气压调节组件(图中未标示)。所述波纹管52设置于所述穿戴训练部5的每个关节处，相邻所述波纹管52之间通过所述连接气管51贯穿连接。当所述波纹管52被充气时，所述波纹管52的内部气压增大，所述波纹管52的长度变大，呈拉伸状态，使设置波纹管52的手指弯曲。当所述波纹管52被抽气时，所述波纹管52的内部气压减小，所述波纹管52的长度变小，呈压缩状态，使设置波纹管52的手指伸直。本发明的一些优选实施例中，所述穿戴训练部初始状态时处于伸展工况，当所述手部运动检测装置刚启动时，所述控制部驱动所述气压调节组件向所述气动伸缩组件(图中未标示)抽气，所述波纹管52的内部气压减小，所述波纹管52的长度变小，呈压缩状态，使所述穿戴训练部5为伸展工况，所述穿戴训练部5的每根手指伸直，此时，所述穿戴训练部5的穿戴阻力大幅度减小，便于使用者穿戴所述穿戴训练部5。
本发明的一些实施例中，所述手部运动检测装置的控制方法，包括：
S1、所述运动检测部在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，并将所述检测信息传输给所述控制部；
S2、所述控制部根据所述检测信息发出执行指令，实现了实时准确的采集第一手部的手指关节的运动信息。
本发明的一些实施例中，提供了一种康复装置的控制方法，包括：
S1、将所述运动检测部设置于所述第一手部的手指关节，所述运动检测部在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息后，将所述检测信息传输给所述控制部；
S2、所述控制部分析处理所述运动检测部传输的所述检测信息并发出执行 指令；
S3、所述气压调节组件根据所述执行指令调节所述气动伸缩组件内的气压，使所述穿戴训练部在屈曲工况和伸展工况之间变化，以实现第二手部的手部镜像训练。
图8为本发明的一些实施例中穿戴训练部处于伸展工况的示意图；图9为本发明的一些实施例中穿戴训练部处于屈曲工况的示意图。
本发明的一些实施例中，参考图7，使用者左手穿戴所述穿戴训练部5，右手穿戴所述穿戴部3，所述穿戴部3上设置所述手部运动检测装置，所述手部运动检测装置包括运动检测部1，所述运动检测部1设置在所述穿戴部3的手指部的指肚背面，所述运动检测部1包括5个运动检测部，分别为第一运动检测部11、第二运动检测部12、第三运动检测部13、第四运动检测部14和第五运动检测部15，每个所述运动检测部跨单根手指的两个(如大拇指)或三个(除大拇指外的其他手指)手指关节手指，且分别与所述控制部连接，以检测单根手指的整体运动状态。
本发明的一些具体实施例中，由于五根手指的结构类似，以食指运动为例。所述康复装置启动，所述穿戴训练部5上的所述气动伸缩组件带动第二手部的食指处于伸直状态。当所述穿戴部3的食指进行屈曲运动时，参照图7和图8，屈曲过程中，所述第二运动检测部12中的所述第一导电胶层(图中未标示)和所述第二导电胶层(图中未标示)相互接触导通产生检测信息并传输给所述控制部(图中未标示)，所述控制部(图中未标示)根据获得的所述检测信息控制所述气压调节组件调节所述穿戴训练部5的食指上的气动伸缩组件(图中未标示)升压，即所述气压调节组件控制所述波纹管52的内部气压增大，所述波纹管52的长度变大，呈拉伸状态，使穿戴的穿戴训练部5上对应的食指实现镜像屈曲运动。当所述穿戴部3的食指伸展，手指关节处于伸直状态时，所述第二运动检测部12中的所述第一导电胶层(图中未标示)和所述第二导电胶层(图 中未标示)分离互不接触，所述控制部(图中未标示)控制所述气压调节组件调节所述穿戴训练部5的食指上的气动伸缩组件(图中未标示)气压降低，即所述波纹管52的内部气压减小，所述波纹管52的长度变小，呈压缩状态，使穿戴的穿戴训练部5上对应的食指实现镜像伸展运功并伸直食指。即通过第一手部上的所述第二运动检测部12贴合食指设置以采集食指的手指关节的运动信息，以实现自主控制所述第二手部的食指进行镜像训练。其他手指的镜像训练原理相同，通过所述第一手部上的所述第一运动检测部11贴合大拇指设置以采集大拇指的手指关节的运动信息，以实现自主控制所述第二手部的大拇指进行镜像训练；通过所述第一手部上的第三运动检测部13贴合中指设置以采集中指的手指关节的运动信息，以实现自主控制所述第二手部的中指进行镜像训练；通过所述第一手部上的所述第四运动检测部14贴合无名指设置以采集无名指的手指关节的运动信息，以实现自主控制所述第二手部的无名指进行镜像训练；通过所述第一手部上的所述第五运动检测部15贴合小拇指设置以采集小拇指的手指关节的运动信息，以实现自主控制所述第二手部的小拇指进行镜像训练。通过所述的手部运动检测装置，使用者可以由健侧手自主控制患侧手进行康复动作，完成镜像训练，且使用者通过自主控制第一手部的手指关节的屈曲运动和伸展运动，以实现第二手部的镜像手指关节的屈曲运动和伸展运动，增强了使用者治疗的参与感，提高了康复训练效果。各运动检测部之间的互不影响，独立触发，采集的检测信号也独立传输给所述控制部。
本发明的另一些实施例中，使用者左手穿戴所述穿戴训练部5，右手穿戴所述穿戴部3，所述穿戴部3上设置所述手部运动检测装置，所述手部运动检测装置包括运动检测部1，所述运动检测部1设置在所述穿戴部3的手指部的指肚背面，所述运动检测部1包括5个运动检测部，分别为第一运动检测部11、第二运动检测部12、第三运动检测部13、第四运动检测部14和第五运动检测部15，每个所述运动检测部跨单根手指的两个(如大拇指)或三个(除大拇指外的其他手指)手指关节手指，以检测单根手指的整体运动状态，所述第一运动检测 部11、所述第二运动检测部12、所述第三运动检测部13、所述第四运动检测部14和所述第五运动检测部15串联连接且通过一根总导线与所述控制部连接，所述第一运动检测部11、所述第二运动检测部12、所述第三运动检测部13、所述第四运动检测部14和所述第五运动检测部15中的任意一个检测到所述第一手部的任意一根手指的手指关节运动就将采集到的检测信息传输给所述控制部，所述控制部根据所述检测信息控制所述气压调节组件调节所述穿戴训练部上的所有手指部设置的所述气动伸缩组件内的气压，使所述穿戴训练部整体都在屈曲工况和伸展工况之间变化，以实现第二手部的手部镜像训练。
在本发明的又一些具体实施例中，使用者左手穿戴所述穿戴训练部，右手穿戴所述穿戴部，所述穿戴部上设置所述手部运动检测装置，所述手部运动检测装置包括一个运动检测部，以检测右手的任意一根手指的关节运动并将采集到的检测信息传输给所述控制部，所述控制部根据所述检测信息控制所述气压调节组件调节所述穿戴训练部上的所有手指部设置的所述气动伸缩组件内的气压，使所述穿戴训练部整体都在屈曲工况和伸展工况之间变化，以实现第二手部的手部镜像训练，即利用右手上设置的一个运动检测部，就控制左手的五根手指共同进行屈曲运动和伸展运动。
本发明的再一些实施例中，参照图3，所述第一手部的每根手指上设有3个所述运动检测部，分别为所述第七运动检测部17、所述第八运动检测部18和所述第九运动检测部19，且所述第七运动检测部17、所述第八运动检测部18和所述第九运动检测部19分别检测一个手指关节的运动，且分别与所述控制部连接，以检测单个手指关节的运动状态。所述穿戴训练部上的贴合每个手指关节设置的所述波纹管均单独通过所述连接气管与所述气压调节组件，以使所述控制部在接收到所述第一手部的某根手指上单个手指关节运动时，控制所述第二手部上对应手指的对应手指关节进行镜像训练，如所述第九运动检测部19检测所述第一手部的食指的掌指关节的运动信息，当所述第一手部的食指的掌指关节进行伸展运动和屈曲运动时，所述第九运动检测部19产生检测信息并传输给 所述控制部，所述控制部控制所述气压调节组件调节所述第二手部的食指的掌指关节上设置的所述波纹管内的气压，使该食指的掌指关节进行相应的伸展运动和屈曲运动，以实现该食指的掌指关节的镜像训练。
本发明的还一些实施例中，所述第一手部的每根手指上设有3个所述运动检测部，分别为所述第七运动检测部、所述第八运动检测部和所述第九运动检测部，且所述第七运动检测部、所述第八运动检测部和所述第九运动检测部分别检测一个手指关节的运动且串联连接，并通过一根总的导线与所述控制部连接，以检测单个手指关节的运动状态，所述第一手部的每根手指上的所述第七运动检测部、所述第八运动检测部和所述第九运动检测部中的任意一个检测到所述第一手部的任意一个手指关节运动就将采集到的检测信息传输给所述控制部，所述控制部根据所述检测信息控制所述气压调节组件调节所述穿戴训练部上的所有手指部设置的所述气动伸缩组件内的气压，使所述穿戴训练部整体都在屈曲工况和伸展工况之间变化，以实现第二手部的手部镜像训练。
本发明的一些实施例中，所述控制部将所述检测信息转化为角度值信息，并根据所述角度值信息控制所述气压调节组件调整向所述气动伸缩组件输出的气压，以使所述穿戴训练部的手指实现相应角度值的屈曲，通过所述运动检测部在所述第一手部的手指进行伸展运动和屈曲运动过程中产生的所述检测信息，以实现自主控制所述穿戴训练部的手指实现相应角度值的屈曲。
本发明的一些实施例中，通过所述的手部运动检测装置可以实现第二手部手指的实时镜像角度控制。参照图7，以食指运动为例，当所述穿戴部3的食指关节发生屈曲角度变化时，所述第二运动检测部12中的所述第一导电胶层(图中未标示)和所述第二导电胶层(图中未标示)接触面积发生变化产生检测信息并传输给所述控制部(图中未标示)，所述控制部(图中未标示)将获得的所述检测信息转化为对应的角度值信息和气压信息，并通过气压调节组件控制所述穿戴训练部5的对应的伸缩组件内的压力，使其所述波纹管52的内部气压发生变化，所述波纹管52的长度发生变化，屈曲角度发生变化，使穿戴的穿戴 训练部5上对应的食指实现镜像屈曲运动且屈曲角度随之变化。本发明的一些具体实施例中，当所述食指的掌指关节进行屈曲运动，随着关节弯曲角度增加，所述第一导电胶层(图中未标示)和所述第二导电胶层(图中未标示)接触面积变大，之间的电阻值降低，检测信息发生变化，根据检测信息不同，可以获得该手指的运动信息，所述控制部(图中未标示)将检测信息转化为对应的角度值信息和气压信息，并通过气压调节组件控制所述穿戴训练部5的食指上对应的伸缩组件内的压力增大，从而带动所述穿戴训练部5的食指实现镜像的屈曲角度变化。当所述食指的掌指关节进行伸展运动，随着关节弯曲角度减小，所述第一导电胶层(图中未标示)和所述第二导电胶层(图中未标示)接触面积变小，之间的电阻值增大，检测信息发生变化，根据检测信息不同，可以获得该手指的运动信息，所述控制部(图中未标示)将检测信息转化为对应的角度值信息和气压信息，并通过气压调节组件控制所述穿戴训练部5的食指上对应的伸缩组件内的压力降低，从而带动所述穿戴训练部5的食指实现镜像的屈曲角度变化。
本发明的一些实施例中，所述控制部根据所述检测信息控制所述穿戴训练部运动的启动或者停止，通过所述运动检测部在所述第一手部的手指进行伸展运动和屈曲运动过程中产生的所述检测信息，以实现自主控制所述穿戴训练部启动运动，通过所述运动检测部在所述第一手部的手指进行伸直时产生的所述检测信息，以实现自主控制所述穿戴训练部停止运动。
本发明的一些实施例中，所述第一手部的一个手指关节设有一个所述运动检测部，使用者通过所述运动检测部在所述第一手部的该手指关节进行伸展运动和屈曲运动过程中产生所述检测信息，以实现控制所述穿戴训练部启动运动，使用者通过所述运动检测部在所述第一手部的该手指关节伸直时不产生所述检测信息，以实现控制所述穿戴训练部停止运动。
本发明的一些实施例中，使用者可以通过装置外壳上的按键部设定所述第一手部的多根手指上的所述运动检测部为所述穿戴训练部的运动的控制开关， 使用者在穿戴所述穿戴训练部进行被动训练的情况下，使用者可以通过所述第一手部上的多个所述运动检测部在所述第一手部的多根手指同时进行伸展运动和屈曲运动过程中产生所述检测信息，以实现自主控制所述穿戴训练部启动运动，使用者可以通过所述第一手部上的多个所述运动检测部在所述第一手部的多根手指同时进行伸直时不产生所述检测信息，以实现自主控制所述穿戴训练部停止运动。
本发明的一些实施例中，使用者可以通过装置外壳上的按键部设定所述第一手部的某一根手指上的所述运动检测部为所述穿戴训练部的运动的控制开关，使用者在穿戴所述穿戴训练部进行被动训练的情况下，可以通过所述第一手部的该根手指上的所述运动检测部在所述第一手部上的该根手指进行伸展运动和屈曲运动过程中产生所述检测信息，以实现控制所述穿戴训练部启动运动，可以通过所述第一手部的该根手指上的所述运动检测部在所述第一手部上的该根手指进行伸直时不产生所述检测信息，以实现控制所述穿戴训练部停止运动。
本发明的一些实施例中，提供了一种自主控制系统，包括执行部和所述的手部运动检测装置，所述执行部与所述控制部连接；所述执行部用于根据所述执行指令运动。
本发明的一些实施例中，所述执行部包括驱动单元，所述驱动单元用于根据所述运动执行指令驱动图像运动或驱动声音变化或驱动游戏运行，所述图像、声音和游戏储存在终端设备中，所述执行部根据所述执行指令驱动图像运动或驱动声音变化或驱动游戏运行，以使使用者能够根据的反馈结果自主调节所述第一手部的手指关节的运动信息的采集而进行手部自主训练，自主训练灵活性更高，更能贴切使用者的实际情况，提高了训练效果，而且通过驱动图像运动或驱动声音变化或驱动游戏运行以反馈所述第一手部的手指关节的运动信息，使得使用者能实时得到训练反馈结果，训练效果更直观，且能准确反映患者手部动作的完成度，在游戏乐趣的驱使下，使使用者乐于进行自主训练，训练的依从性高，提高了训练效果。
本发明的一些具体实施例中，终端设备内存储有游戏软件，所述终端设备与所述控制部连接，使用者的第一手部的某根手指上设有三个所述运动检测部且分别与所述控制部连接，分别为所述第七运动检测部、所述第八运动检测部和所述第九运动检测部，所述第七运动检测部贴合远端指间关节设置，所述第七运动检测部在远端指间关节的伸展运动和屈曲运动过程中产生检测信息，以采集远端指间关节的运动信息；所述第八运动检测部贴合近端指间关节设置，所述第八运动检测部在近端指间关节的伸展运动和屈曲运动过程中产生检测信息，以采集近端指间关节的运动信息；所述第九运动检测部贴合掌指关节设置，所述第九运动检测部在掌指关节的伸展运动和屈曲运动过程中产生检测信息，以采集掌指关节的运动信息，当所述的掌指关节屈曲运动时，所述第九运动检测部中的所述第一导电胶层和所述第二导电胶层相互接触导通产生电阻值逐渐变小的电阻值信息并发送至所述控制部，所述控制部控制游戏中的人物等左移；当掌指关节伸展运动时，所述第九运动检测部中的所述第一导电胶层和所述第二导电胶层相互接触导通产生电阻值逐渐变大的电阻值信息并发送至所述控制部，所述控制部控制游戏中的人物等右移；同理，当所述近端指间关节屈曲运动时，所述控制部控制游戏中的人物等上移，当所述近端指间关节伸展运动时，所述控制部控制游戏中的人物等下移，当所述远端指间关节屈曲运动时，所述控制部控制游戏中的人物等爬行，当所述远端指间关节伸展运动时，所述控制部控制游戏中的人物等跳跃，且所述控制部根据电阻值的变化量以控制游戏中的人物运动速度。本发明的一些优选实施例中，使用者的多根手指上设有所述运动检测部且所述运动检测部分别与所述控制部连接，所述控制部根据每根手指上的所述运动检测部的检测信息控制游戏中的人物的不同动作。本发明的另一些优选实施例中，使用者的多根手指上设有所述运动检测部，且每根手指设有多个所述运动检测部以检测单个手指关节的运动，且所述运动检测部分别与所述控制部连接，以便于所述控制部分别控制游戏中的人物的更多动作。
本发明的一些实施例中，在进行自主训练时，对于手部受伤严重而导致手 部无法进行自如伸展和屈曲运动的使用者，可以在手部穿戴所述穿戴训练部以及设置与穿戴训练部连接的气压调节组件以辅助进行自主训练，即可以在同一手套上同时设置所述运动检测部和所述气动伸缩组件。
虽然在上文中详细说明了本发明的实施方式，但是对于本领域的技术人员来说显而易见的是，能够对这些实施方式进行各种修改和变化。但是，应理解，这种修改和变化都属于权利要求书中所述的本发明的范围和精神之内。而且，在此说明的本发明可有其它的实施方式，并且可通过多种方式实施或实现。

Claims (17)

  1. 一种手部运动检测装置，其特征在于，包括运动检测部，所述运动检测部设置于第一手部的手指关节，且在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，所述运动检测部连接控制部，所述运动检测部将所述检测信息传输给所述控制部，所述控制部根据所述检测信息发出执行指令。
  2. 根据权利要求1所述的手部运动检测装置，其特征在于，所述运动检测部包括隔离设置的第一检测单元和第二检测单元，当所述第一手部的手指弯曲时，所述第一检测单元接触所述第二检测单元从而触发产生所述检测信息。
  3. 根据权利要求1所述的手部运动检测装置，其特征在于，所述运动检测部跨至少一个手指关节设置，且在所述至少一个手指关节进行伸展运动和屈曲运动过程中产生所述检测信息。
  4. 根据权利要求1所述的手部运动检测装置，其特征在于，所述第一手部的至少一根手指设置有所述运动检测部，且单根手指设有至少一个所述运动检测部。
  5. 根据权利要求1所述的手部运动检测装置，其特征在于，每个所述手指关节设置有多个所述运动检测部。
  6. 根据权利要求1所述的手部运动检测装置，其特征在于，还包括穿戴部，所述穿戴部呈手套形状且包括手指部，所述运动检测部设置于所述手指部。
  7. 根据权利要求6所述的手部运动检测装置，其特征在于，所述手指部设有容纳部，所述运动检测部设置在所述容纳部内。
  8. 根据权利要求6所述的手部运动检测装置，其特征在于，所述运动检测部通过黏胶、魔术贴、磁铁、缝线、卡扣、指套和绑带中的任意一种固定于所述手指部。
  9. 根据权利要求2所述的手部运动检测装置，其特征在于，所述第一检测单元包括第一导电胶层，所述第二检测单元包括第二导电胶层，所述第一导电胶层和所述第二导电胶层互不接触且分别设置在弹性外壳相对的内侧壁，当所述第一手部的手指关节处于屈曲状态时，所述第一导电胶层和所述第二导电胶层相互接触产生所述检测信息。
  10. 根据权利要求9所述的手部运动检测装置，其特征在于，所述第一导电胶层和所述第二导电胶层均由导电胶制成。
  11. 根据权利要求9所述的手部运动检测装置，其特征在于，所述第一导电胶层和所述第二导电胶层包括导电胶和内嵌于所述导电胶的导线。
  12. 根据权利要求11所述的手部运动检测装置，其特征在于，所述控制部与所述运动检测部经由所述导线电连接。
  13. 根据权利要求10或11所述的手部运动检测装置，其特征在于，所述弹性外壳的一端还设有所述导电元件，所述导电元件的上下端面分别与所述第一导电胶层和所述第二导电胶层接触，所述控制部与所述运动检测部经由所述导电元件电连接。
  14. 根据权利要求1所述的手部运动检测装置的控制方法，其特征在于，包括：
    S1、所述运动检测部在所述第一手部的手指进行伸展运动和屈曲运动过程中产生反馈手指关节运动的检测信息，并将所述检测信息传输给所述控制部；
    S2、所述控制部根据所述检测信息发出执行指令。
  15. 一种康复装置，其特征在于，包括如权利要求1-14任一项所述的手部运动检测装置以采集检测信息，所述康复装置还包括气压调节组件和穿戴训练部，所述穿戴训练部上设有气动伸缩组件，所述气压调节组件与所述气动伸缩组件连接；
    所述气压调节组件连接控制部，所述控制部根据所述检测信息控制所述气压调节组件调节所述气动伸缩组件内的气压，使所述穿戴训练部在屈曲工况和伸展工况之间变化，以实现第二手部的手部镜像训练。
  16. 一种自主控制系统，包括执行部，其特征在于，还包括如权利要求1-14任一项所述的手部运动检测装置，所述执行部连接控制部。
  17. 根据权利要求16所述的自主控制系统，其特征在于，所述执行部包括驱动单元，所述驱动单元用于根据所述运动执行指令驱动图像运动或驱动声音变化或驱动游戏运行，所述图像、声音和游戏储存在终端设备中。
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