WO2024114216A1

WO2024114216A1 - Arm exercise training system and method

Info

Publication number: WO2024114216A1
Application number: PCT/CN2023/127612
Authority: WO
Inventors: 尹刚刚; 王吴东
Original assignee: 上海司羿智能科技有限公司
Priority date: 2022-11-28
Filing date: 2023-10-30
Publication date: 2024-06-06
Also published as: CN118078575A

Abstract

The present invention provides an arm exercise training system and method. The system comprises an electrical stimulation main unit, a pneumatic main unit, and a pneumatic glove. The pneumatic main unit is configured for controlling to output positive and negative air pressure to the pneumatic glove so as to realize extending or buckling of the pneumatic glove. The pneumatic glove, when extending, is configured for driving the hand of a target object to extend. The pneumatic glove, when buckling, is configured for driving the hand of the target object to buckle. The electrical stimulation main unit and the forearms of the target object both participate in forming a conductive loop. The electrical stimulation main unit is configured for acquiring an instruction of the pneumatic main unit. The electrical stimulation main unit is configured for outputting electrical stimulation to the wrist of the target object according to the instruction. The pneumatic main unit is provided with a storage unit which is configured for storing the instruction. The system is configured for performing rehabilitation training on the hand by means of pressure and electrical stimulation.

Description

Arm movement training system and method

cross reference

This application claims priority to Chinese application No. 2022115014355 filed on November 28, 2022. The contents of the above application are incorporated herein by reference.

Technical Field

The present invention relates to the field of sports training, and in particular to an arm sports training system and method.

Background technique

The wrist joint is an important joint connecting the hand and upper limbs. It is a joint with higher flexibility in the whole body. The strength and flexibility of the wrist joint will directly affect the grasping ability of the palm and the flexibility and mobility of the fingers. The wrist joint greatly affects the motor function of the hand.

At present, most wrist and ankle training devices on the market can only enable the wrist joint to perform passive training activities under pressure, but cannot help the subject to move the wrist joint autonomously, and cannot provide the subject with comprehensive hand movement training, making it difficult to enhance the subject's grasping ability and wrist flexibility. Therefore, a new arm movement training system and method are urgently needed to improve the above problems.

Summary of the invention

The object of the present invention is to provide an arm movement training system and method, which is used for performing rehabilitation training on hands through pressure and electrical stimulation.

In a first aspect, the present invention provides an arm movement training system, comprising an electrical stimulation host, a pneumatic host, and a pneumatic glove; the pneumatic host is used to control the output of positive and negative air pressure to the pneumatic glove to achieve the extension or flexion of the pneumatic glove; when the pneumatic glove is extended, it is used to drive the hand of the target object to extend, and when the pneumatic glove is flexed, it is used to drive the hand of the target object to flex; the electrical stimulation host and the target object The forearm of the target object participates in forming a conductive circuit; the electric stimulation host is used to obtain the instructions of the pneumatic host; the electric stimulation host is used to output electric stimulation to the wrist of the target object according to the instructions; the pneumatic host is provided with a storage unit for storing the instructions.

The method of the present invention has the following beneficial effects: the present invention provides the pneumatic host for controlling the output of positive and negative air pressure to the pneumatic glove to achieve the extension or flexion of the pneumatic glove; the pneumatic glove is used to drive the hand of the target object to extend when extended, and is used to drive the hand of the target object to flex when flexed; the electrical stimulation host and the forearm of the target object both participate in forming a conductive circuit; the electrical stimulation host is used to obtain instructions from the pneumatic host; the electrical stimulation host is used to output electrical stimulation to the wrist of the target object according to the instructions; the present invention uses the electrical stimulation host to enable the wrist joint and finger joint of the hand of the target object to perform a combined flexion and extension movement, thereby improving the training effect and being beneficial to enhancing the gripping ability and wrist flexibility of the hand of the target object.

Optionally, the training system further includes a data glove; the data glove is used to detect the flexion and extension state of the hand of the reference object to generate a detection signal; the pneumatic host is used to generate the instruction in real time according to the detection signal. The beneficial effect is that the data glove provided by the present invention is used to detect the flexion and extension state of the hand of the reference object to generate a detection signal; the pneumatic host is used to generate the instruction in real time according to the detection signal, so that the hand of the target object can follow the hand of the reference object for mirror training, which is conducive to enhancing the coordination between the hand of the target object and the hand of the reference object.

Optionally, the electrical stimulation host is electrically connected to a patch; the patch is used to be attached to at least one muscle of the forearm of the target object. The beneficial effect is that the present invention can apply electrical stimulation to the muscles connected to the wrist joint by attaching the patch to at least one muscle of the forearm of the target object, thereby enhancing the strength of the wrist of the target object.

Optionally, both the electro-stimulation host and the patch are connected with magnetic buckles; when the magnetic buckle located on the electro-stimulation host cooperates with and attracts the magnetic buckle located on the patch, the electro-stimulation host is electrically connected to the patch.

Optionally, the pneumatic host is used to control a plurality of the electrical stimulation hosts at the same time, and each of the electrical stimulation hosts is connected to the patch and is attached to different muscles of the forearm of the target object. The beneficial effect is that the present invention can achieve electrical stimulation of muscles in different parts of the forearm by attaching to different muscles of the forearm of the target object, so as to achieve diversified training movements, which is conducive to training the overall flexibility of the forearm of the target object.

Optionally, the electrical stimulation host and the pneumatic host communicate via wireless signals. The beneficial effect is that the electrical stimulation host and the pneumatic host communicate via wireless signals, which is conducive to simplifying the preparation steps before training and is convenient for the training subject to use.

In a second aspect, the present invention provides a control method for a pneumatic host, which is used to control the pneumatic host in the arm movement training system described in any one of the first aspects, including: S101, the pneumatic host is turned on, and the size and direction of the air pressure output to the pneumatic glove are controlled to make the pneumatic glove stretch or flex the hand of the target object; S102, when the training starts, the pneumatic host sends a signal to the electric stimulation host to make the electric stimulation host enter the command mode; S103, the pneumatic host outputs negative pressure to make the pneumatic glove gradually stretch, and at the same time sends an instruction to the electric stimulation host to make the electric stimulation host output electric stimulation to the forearm of the target object covered with the pneumatic glove to assist the wrist joint of the target object to exert force; S104, the pneumatic host outputs positive pressure to make the pneumatic glove gradually flex, and stops sending instructions to the electric stimulation host to make the electric stimulation host stop outputting electric stimulation to the forearm of the target object covered with the pneumatic glove to relax the wrist joint of the target object; S105, repeat S103 and S104 until the training is completed.

Optionally, S102 includes: a data glove wrapped around the hand of a reference object detects the flexion and extension state of the hand of the reference object to generate a detection signal; and the pneumatic host generates the instruction according to the detection signal.

Optionally, S103 includes: when the pneumatic host outputs negative air pressure, controlling the current value output by the electrical stimulation host to gradually increase to a first preset current value, so that the current value output by the electrical stimulation host continues to be the first preset current value in a first time period.

Optionally, the S104 includes: when the pneumatic host outputs positive air pressure, controlling the current value output by the electrical stimulation host to gradually decrease to a second preset current value, so that the current value output by the electrical stimulation host The second preset current value is maintained during the second time period.

Optionally, the control method of the pneumatic host satisfies a passive training mode and a mirror training mode; when in the passive training mode, the pneumatic host automatically and cyclically switches between positive and negative air pressure outputs according to a preset time; when in the mirror training mode, the pneumatic host switches between positive and negative air pressure outputs according to the flexion and extension state of the hand of a reference object detected by the data glove.

In a third aspect, the present invention provides a control method for an electric stimulation host, which is used to control the electric stimulation host in the arm movement training system described in any one of the first aspects, including: S201, after the electric stimulation host is turned on, it is in a default training mode and establishes communication with the pneumatic host; S202, when the electric stimulation host obtains the first instruction of the pneumatic host, the electric stimulation host enters the instruction mode and starts timing; S203, when the electric stimulation host continuously obtains the second instruction of the pneumatic host within a preset time period, it outputs electric stimulation, and the current value of the electric stimulation gradually increases to the preset current value of the current training mode; S204, when the second instruction obtained by the electric stimulation host stops, the timing is restarted, and the current value of the electric stimulation decreases uniformly from the current value; or when the electric stimulation host obtains the third instruction, the current value of the electric stimulation decreases uniformly from the current value; when the electric stimulation host obtains the second instruction again, the current value of the electric stimulation gradually increases from the current value to the preset current value of the current training mode; S205, when the second instruction stops for more than a preset interval time, the electric stimulation host is shut down.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an arm movement training system provided by the present invention;

FIG2 is a schematic diagram of a top view of an electrical stimulation host provided by the present invention;

FIG3 is a bottom view of the structure of an electric stimulation host provided by the present invention;

FIG4 is a schematic diagram of a top view of a patch provided by the present invention;

FIG5 is a schematic diagram of a top view of an electrical stimulation host connection patch provided by the present invention;

FIG6 is a schematic diagram of a bottom-up structure of a patch provided by the present invention;

FIG7 is a schematic flow chart of a control method of a pneumatic main engine provided by the present invention;

FIG8 is a schematic diagram of a curve relationship between the angle of a pneumatic glove and the output current of a single electrical stimulation host provided by the present invention;

FIG9 is a schematic diagram of a curve relationship between the angle of a pneumatic glove and the output current of two electrical stimulation hosts provided by the present invention;

FIG. 10 is a flow chart of a control method of an electrical stimulation host provided by the present invention.

Numbers in the figure:
10. Arm motion training system; 11. Pneumatic host; 12. Pneumatic gloves; 13. Electrical stimulation host; 131. First button; 132. Second button; 133. Third button; 134. Display screen; 135. Charging contact; 136. Magnetic buckle; 14. Patch; 141. Conductive gel layer 142. Insulation layer; 15. Data gloves.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be understood by people with general skills in the field to which the present invention belongs. "Including" and similar words used in this article mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

FIG1 is a schematic structural diagram of an arm movement training system provided by the present invention.

In view of the problems existing in the prior art, as shown in FIG1 , the present invention provides an arm movement training system 10, comprising an electrical stimulation host 13, a pneumatic host 11, and a pneumatic glove 12. The pneumatic host 11 is used to control the output of positive and negative air pressure to the pneumatic glove 12 to achieve the extension or flexion of the pneumatic glove 12. The pneumatic glove 12 is used to drive the hand of the target object to extend when it is extended, and is used to drive the hand of the target object to flex when it is flexed. The electrical stimulation host 13 and the forearm of the target object both participate in forming a conductive circuit. The electrical stimulation host 13 is used to obtain instructions from the pneumatic host 11. The electrical stimulation host 13 is used to output electrical stimulation to the wrist of the target object according to the instructions. The pneumatic host 11 is provided with a storage unit for storing the instructions.

Specifically, when the pneumatic host 11 outputs positive air pressure to the pneumatic glove 12, the pneumatic glove 12 is stretched to the extreme back extension state, and when the pneumatic host 11 outputs negative air pressure to the pneumatic glove 12, the pneumatic glove 12 is flexed to the extreme clenched state. Taking the distal knuckle of the right index finger of the pneumatic glove 12 as an example, the direction of the knuckle rotates 30° along the clockwise direction from the index finger straight state to the extreme back extension state. The direction of the knuckle rotates 270° along the counterclockwise direction from the index finger straight state to the extreme clenched state. The pneumatic host 11 includes a processor, which is used to call the instructions stored in the storage unit and send the instructions to the electrical stimulation host 13. The storage unit is configured as a non-volatile memory.

In some other specific embodiments, when the pneumatic host 11 outputs negative air pressure to the pneumatic glove 12, the pneumatic glove 12 is stretched to the limit back extension state, and when the pneumatic host 11 outputs positive air pressure to the pneumatic glove 12, the pneumatic glove 12 is bent to the limit gripping state. The processor and the storage unit can be provided separately or integrated on the same integrated circuit chip. The storage unit can be provided as a volatile memory.

It is worth noting that the present invention provides the pneumatic host 11 for controlling the output of positive and negative air pressure to the pneumatic glove 12 to achieve the extension or flexion of the pneumatic glove 12. When the pneumatic glove 12 is extended, it is used to drive the hand of the target object to extend, and when the pneumatic glove 12 is flexed, it is used to drive the hand of the target object to flex. The electrical stimulation host 13 and the forearm of the target object both participate in forming a conductive circuit. The electrical stimulation host 13 is used to obtain instructions from the pneumatic host 11. The electrical stimulation host 13 is used to output electrical stimulation to the wrist of the target object according to the instructions. The present invention uses the electrical stimulation host 13 to enable the wrist joints and finger joints of the hand of the target object to perform joint flexion and extension movements, thereby improving the training effect and helping to enhance the gripping ability and wrist flexibility of the hand of the object.

In some embodiments, the training system further includes a data glove 15. The data glove 15 is used to detect the flexion and extension state of the hand of the reference object to generate a detection signal. The pneumatic host 11 is used to generate the instruction in real time according to the detection signal. The data glove 15 provided by the present invention is used to detect the flexion and extension state of the hand of the reference object to generate a detection signal. The pneumatic host 11 is used to generate the instruction in real time according to the detection signal, which can enable the hand of the target object to follow the hand of the reference object for mirror training, which is beneficial to enhancing the coordination between the hand of the target object and the hand of the reference object.

Specifically, the data glove includes five bending sensors located in the finger part. The pneumatic host 11 is electrically connected to each of the bending sensors, and the pneumatic host 11 records the bending angles of the five fingers of the reference object as an angle sequence according to a preset sampling period. The instruction is used to control the bending angles of the five fingers of the pneumatic glove 12 to rotate according to the angle sequence. The data glove also includes a position sensor located in the palm part. The pneumatic host 11 records the position of the palm part of the reference object as a position sequence according to a preset sampling period. The instruction is used to control the position of the palm part of the pneumatic glove 12 to move according to the position sequence.

In some other specific embodiments, the data glove 15 includes an angle sensor, which is used to detect the rotation angle of each finger joint of the reference object's hand in real time, and the pneumatic host 11 records the rotation angle of each finger joint of the reference object's hand as an angle sequence according to a preset sampling period. The instruction is used to control the finger joints of the pneumatic glove 12 to rotate according to the angle sequence.

In some specific embodiments, the data glove 15 includes a position sensor, which is used to detect the moving position of each finger joint of the reference object's hand in real time, and the pneumatic host 11 records the moving position of each finger joint of the reference object's hand as a position sequence according to a preset sampling period. The instruction is used to control the finger joints of the pneumatic glove 12 to move according to the position sequence.

In some embodiments, the electrical stimulation host 13 is electrically connected to a patch 14. The patch 14 is used to be attached to at least one muscle of the forearm of the target object. The present invention can apply electrical stimulation to the muscles connected to the wrist joint by attaching the patch 14 to at least one muscle of the forearm of the target object, thereby enhancing the strength of the wrist of the target object.

Specifically, the patch 14 is used to be attached to the extensor carpi ulnaris of the target object.

In some other specific embodiments, the patch 14 is used to be attached to the extensor carpi radialis longus muscle of the target object.

In some further specific embodiments, the patch 14 is used to be attached to the extensor carpi radialis brevis muscle of the target subject.

It is worth noting that the patch 14 can be attached to any muscle of the forearm of the target object. The patch 14 is set as a group version patch 14 or a fine version patch 14. The group version patch 14 is larger than the fine version patch 14 and is used to be attached to multiple muscles at the same time, which can stimulate multiple muscles or the entire muscle group and is suitable for gross training movements. The fine version patch 14 only stimulates a single muscle and is suitable for fine training movements.

FIG. 2 is a schematic diagram of a top view of the structure of an electric stimulation host provided by the present invention.

As shown in FIG. 1 and FIG. 2, in some embodiments, the electrical stimulation host 13 is provided with a first button 131, a second button 132, a third button 133 and a display screen 134. The first button 131 is used to control the power on of the electrical stimulation host 13. The second button 132 is used to control the output current of the electrical stimulation host 13 to increase. The third button 133 is used to control the output current of the electrical stimulation host 13 to decrease. The display screen is used to display the communication status with the pneumatic host 11, the output current value of the electrical stimulation host 13 and the remaining power.

Figure 3 is a schematic diagram of the bottom view of an electrostimulation host provided by the present invention. Figure 4 is a schematic diagram of the top view of a patch provided by the present invention. Figure 5 is a schematic diagram of the top view of an electrostimulation host connected to a patch provided by the present invention.

As shown in Fig. 3, Fig. 4 and Fig. 5, in some embodiments, the electrostimulation host 13 and the patch 14 are both connected with a magnetic buckle 136. When the magnetic buckle 136 located on the electrostimulation host 13 and the magnetic buckle 136 located on the patch 14 cooperate and attract each other, the electrostimulation host 13 is electrically connected to the patch 14.

Specifically, the number of magnetic buckles 136 located on the electrical stimulation host 13 is 2, and the distance between the two magnetic buckles 136 of the electrical stimulation host 13 is L, where L is an arbitrary length. The number of magnetic buckles 136 located on the patch 14 is 2, and the distance between the two magnetic buckles 136 of the patch 14 is L.

It is worth noting that the number of the magnetic buckles 136 of the electric stimulation host 13 is N, and the number of the magnetic buckles 136 of the patch 14 is M, and both N and M are any positive integers, satisfying that M is greater than or equal to N.

In other specific embodiments, the patch 14 is wrapped around the entire forearm of the target object, and the patch 14 is provided with a magnetic buckle 136 corresponding to each muscle of the forearm. By moving the magnetic buckles 136 of the electrostimulation host 13 to adsorb to different magnetic buckles 136 of the patch 14, it is possible to conveniently adjust the muscle site stimulated by the electrostimulation host 13.

FIG. 6 is a schematic diagram of the bottom-up structure of a patch provided by the present invention.

As shown in Fig. 6, the patch 14 is provided with a conductive gel layer 141 and an insulating layer 142. The conductive gel layer 141 is electrically connected to the magnetic buckle 136 in a one-to-one correspondence. The insulating layer 142 is used to isolate adjacent conductive gel layers 141 to prevent the adjacent conductive gel layers 141 from short-circuiting, thereby ensuring the safety of the training subject.

In some embodiments, the pneumatic host 11 is used to simultaneously control a plurality of the electrical stimulation hosts 13, and each of the electrical stimulation hosts 13 is connected to the patch 14 and is attached to different muscles of the forearm of the target subject. The present invention achieves electrical stimulation of muscles in different parts of the forearm by attaching to different muscles of the forearm of the target subject, so as to achieve diversified training movements, which is conducive to training the overall flexibility of the forearm of the target subject.

Specifically, the patch 14 is used to be attached to at least two muscles of the target object, namely, the extensor carpi radialis longus, the extensor carpi radialis brevis, the extensor carpi radialis brevis, the palmaris longus, the flexor carpi ulnaris, and the flexor carpi radialis.

It is worth noting that the two patches 14 are respectively attached to the agonist muscle and the antagonist muscle of the forearm of the target object to achieve extension and flexion of the forearm. The two patches 14 alternately electrically stimulate the agonist muscle and the antagonist muscle in sequence, so that when the agonist muscle is electrically stimulated, the antagonist muscle relaxes. When the antagonist muscle is electrically stimulated, the agonist muscle relaxes. This avoids muscle damage caused by electrical stimulation of the agonist muscle and the antagonist muscle at the same time.

In some embodiments, the electrical stimulation host 13 communicates with the pneumatic host 11 via wireless signals. It is helpful to simplify the preparation steps before training and is convenient for the training subjects to use.

Specifically, the wireless signal communication methods include: Bluetooth two-way communication, infrared communication, 2.4G pairing two-way communication, and 433Mhz radio frequency broadcasting.

In other embodiments, the electrical stimulation host 13 and the pneumatic host 11 communicate via wired signals.

FIG. 7 is a flow chart of a control method of a pneumatic main engine provided by the present invention.

As shown in FIG. 1 and FIG. 7 , the present invention further provides a method for controlling a pneumatic main engine, which is used to control the pneumatic main engine 11 in the arm movement training system 10 described in any one of the above embodiments, comprising:

S101, the pneumatic host is turned on to control the size and direction of the air pressure output to the pneumatic glove so that the pneumatic glove stretches or flexes the hand of the target object.

S102, when training starts, the pneumatic host sends a signal to the electrical stimulation host to make the electrical stimulation host enter a command mode.

S103, the pneumatic host outputs negative pressure to gradually stretch the pneumatic glove, and at the same time sends instructions to the electrical stimulation host, so that the electrical stimulation host outputs electrical stimulation to the forearm of the target object covered with the pneumatic glove to assist the wrist joint of the target object in exerting force.

S104, the pneumatic host outputs positive pressure to make the pneumatic glove gradually bend, and stops sending instructions to the electrical stimulation host, so that the electrical stimulation host stops outputting electrical stimulation to the forearm of the target object covered with the pneumatic glove, so as to relax the wrist joint of the target object.

S105, repeat S103 and S104 until the training is completed.

In some embodiments, the step S102 includes: the data glove 15 covering the hand of the reference object detects the flexion and extension state of the hand of the reference object to generate a detection signal, and the pneumatic host 11 generates the instruction according to the detection signal.

In some embodiments, the step S103 includes: when the pneumatic host 11 outputs negative air pressure, controlling the current value output by the electrical stimulation host 13 to gradually increase to a first preset current value, so that the electrical stimulation The current value output by the exciting host 13 is continuously the first preset current value in the first period.

In some embodiments, S104 includes: when the pneumatic host 11 outputs positive air pressure, controlling the current value output by the electrical stimulation host 13 to gradually decrease to a second preset current value, so that the current value output by the electrical stimulation host 13 continues to be the second preset current value in a second time period.

FIG8 is a schematic diagram of a curve relationship between the angle of a pneumatic glove and the output current of a single electrical stimulation host provided by the present invention.

Specifically, from the start of training, i.e., 0 seconds, to the end of the 10th second, the pneumatic host 11 outputs positive air pressure to the pneumatic glove 12, and the pneumatic glove stretches; from the 10th second to the end of the 20th second, the pneumatic host outputs negative air pressure to the pneumatic glove, and the pneumatic glove flexes.

It is worth noting that the length of the time period during which the pneumatic host 11 outputs positive pressure or negative pressure to the pneumatic glove 12 is t, and t can be any positive number.

More specifically, taking an unloaded pneumatic glove 12 as an example, as shown in Figures 1 and 8, the pneumatic host 11 establishes communication with a single electrical stimulation host 13. First, from the start of training, i.e., 0 seconds to the end of the 2nd second, the pneumatic host 11 outputs positive air pressure to the pneumatic glove 12, so that the pneumatic glove 12 stretches to the limit dorsal extension state, and controls the current value output by the electrical stimulation host 13 to gradually increase to 15mA.

Secondly, from the end of the 2nd second to the end of the 10th second, the pneumatic host 11 maintains the air pressure output to the pneumatic glove 12 unchanged, so that the pneumatic glove 12 maintains the extreme back extension state, and controls the current value output by the electrical stimulation host 13 to remain unchanged at 15mA.

Then, from the end of the 10th second to the end of the 12th second, the pneumatic host 11 outputs negative air pressure to the pneumatic glove 12, so that the pneumatic glove 12 stretches until the first clenched state, and controls the current value output by the electrical stimulation host 13 to gradually decrease to 0 mA. The first clenched state satisfies that the direction of the distal knuckles of the fingers is 180 degrees to the direction of the wrist pointing to the palm.

Next, from the end of the 12th second to the end of the 14th second, the pneumatic host 11 continues to output negative air pressure to the pneumatic glove 12, so that the pneumatic glove 12 stretches to the extreme grip state, and controls the current value output by the electrical stimulation host 13 to maintain 0mA.

Finally, from the end of the 14th second to the end of the 20th second, the pneumatic host 11 maintains the air pressure output to the pneumatic glove 12 unchanged, so that the pneumatic glove 12 maintains an extreme grip state, and controls the current value output by the electrical stimulation host 13 to maintain 0mA.

FIG9 is a schematic diagram of a curve relationship between the angle of a pneumatic glove provided by the present invention and the output current of two electrical stimulation hosts.

In other more specific embodiments, taking an unloaded pneumatic glove 12 as an example, as shown in Figures 1 and 9, the pneumatic host 11 establishes communication with the first electrical stimulation host 13 and the second electrical stimulation host 13 respectively. First, from the start of training, i.e., the period from 0 seconds to the end of the 2nd second, the pneumatic host 11 outputs positive air pressure to the pneumatic glove 12 to stretch the pneumatic glove 12 to the limit dorsal extension state, and controls the current value output by the first electrical stimulation host 13 to gradually increase to 15mA, and controls the current value output by the second electrical stimulation host 13 to remain at 0mA.

Secondly, from the end of the 2nd second to the end of the 10th second, the pneumatic host 11 maintains the air pressure output to the pneumatic glove 12 unchanged, so that the pneumatic glove 12 maintains the extreme back extension state, controls the current value output by the first electric stimulation host 13 to remain unchanged at 15mA, and controls the current value output by the second electric stimulation host 13 to remain unchanged at 0mA.

Then, from the end of the 10th second to the end of the 12th second, the pneumatic host 11 outputs negative air pressure to the pneumatic glove 12, so that the pneumatic glove 12 stretches until the first clenched state, controls the current value output by the first electrical stimulation host 13 to gradually decrease to 0mA, and controls the current value output by the second electrical stimulation host 13 to gradually increase to 19mA. The first clenched state satisfies that the direction of the distal knuckles of the fingers is 180 degrees to the direction of the wrist pointing to the palm.

Next, from the end of the 12th second to the end of the 14th second, the pneumatic host 11 continues to output negative air pressure to the pneumatic glove 12, so that the pneumatic glove 12 stretches to the extreme grip state, and controls the current value output by the first electric stimulation host 13 to maintain 0mA, and controls the current value output by the second electric stimulation host 13 to maintain 19mA.

Finally, from the end of the 14th second to the end of the 20th second, the pneumatic host 11 maintains the The air pressure output by the pneumatic glove 12 remains unchanged, so that the pneumatic glove 12 maintains an extreme gripping state, controls the current value output by the first electrical stimulation host 13 to maintain 0mA, and controls the current value output by the second electrical stimulation host 13 to maintain 19mA.

It is worth noting that the control method from the start of the training to the end of the 20th second is a cycle, and the training ends after several cycles. The current value output by the electrical stimulation host 13 depends on the current training mode of the electric host 11, and the current values output by the electrical stimulation host 13 corresponding to each training mode of the electric host 11 can be the same or different.

In some embodiments, the control method of the pneumatic host 11 satisfies the passive training mode and the mirror training mode. In the passive training mode, the pneumatic host 11 automatically switches the positive air pressure and negative air pressure output according to the preset time. In the mirror training mode, the pneumatic host 11 switches the positive air pressure and negative air pressure output according to the flexion and extension state of the hand of the reference object detected by the data glove 15.

Specifically, in the mirror training mode, the hand of the reference object and the hand of the target object belong to the same object, which is helpful to improve the hand movement coordination of the object.

In some other specific embodiments, in the mirror training mode, the hand of the reference object and the hand of the target object belong to different objects, which is conducive to training the strength and mobility of the hand of the target object to be close to the hand of the reference object, thereby improving the coordination of hand movements of different objects.

As shown in FIG. 10 , the present invention further provides a control method for an electrical stimulation host, which is used to control the electrical stimulation host 13 in the arm movement training system 10 described in any one of the above embodiments, comprising:

S201, the electrical stimulation host is in a default training mode after being turned on, and establishes communication with the pneumatic host.

S202, when the electrical stimulation host obtains the first instruction from the pneumatic host, the electrical stimulation host enters the instruction mode and starts timing.

S203, when the electrical stimulation host continuously obtains the second instruction of the pneumatic host within a preset period of time, Output electrical stimulation, the current value of the electrical stimulation gradually increases to a preset current value of the current training mode.

S204, when the second instruction obtained by the electrostimulation host stops, the timing is restarted, and the current value of the electrostimulation decreases at a uniform rate from the current value; or when the electrostimulation host obtains the third instruction, the current value of the electrostimulation decreases at a uniform rate from the current value; when the electrostimulation host obtains the second instruction again, the current value of the electrostimulation gradually increases from the current value to the preset current value of the current training mode.

S205, when the second instruction stops for more than a preset interruption time, the electrical stimulation host is turned off.

As shown in Figures 1 and 2, specifically, the working modes of the electrical stimulation host 13 include a command mode, a rehabilitation mode, a massage mode and a pain relief mode. The command mode requires the electrical stimulation host 13 to establish communication with the pneumatic host 11. The rehabilitation mode, the massage mode and the pain relief mode do not require the electrical stimulation host 13 to establish communication with the pneumatic host 11. In S201, long press the first button 131 to turn on the electrical stimulation host 13. After the electrical stimulation host 13 is turned on, it enters the rehabilitation mode by default, and the electrical stimulation host 13 automatically connects wirelessly with the pneumatic host 11. After the electrical stimulation host 13 is turned on and automatically connects wirelessly with the pneumatic host 11, click the first button 131 to cycle the working mode of the electrical stimulation host 13 among the rehabilitation mode, the massage mode and the pain relief mode. Click the second button 132 to increase the output current of the electrical stimulation host 13. Click the third button 133 to reduce the output current of the electrical stimulation host 13.

In other specific embodiments, the working mode of the electrical stimulation host 13 also includes an assist mode, a manual control mode, a resistance mode, a voice control mode, an active mode or any known training mode.

In some other specific embodiments, in S201 , the command mode can also be switched by clicking the first button 131 .

Although the embodiments of the present invention are described in detail above, it is obvious to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as described in the claims. Moreover, the present invention described herein may have other embodiments and may be implemented or realized in a variety of ways.

Claims

An arm movement training system, comprising an electric stimulation host, a pneumatic host, and a pneumatic glove;

The pneumatic host is used to control the output of positive and negative air pressure to the pneumatic glove to achieve the extension or flexion of the pneumatic glove;

The pneumatic glove is used to drive the hand of the target object to extend when the pneumatic glove is extended, and is used to drive the hand of the target object to flex when the pneumatic glove is flexed;

The electrical stimulation host and the forearm of the target object both participate in forming a conductive loop; the electrical stimulation host is used to obtain instructions from the pneumatic host; the electrical stimulation host is used to output electrical stimulation to the wrist of the target object according to the instructions;

The pneumatic host is provided with a storage unit for storing the instructions.
The system according to claim 1, characterized in that the training system further comprises a data glove;

The data glove is used to detect the flexion and extension state of the hand of the reference object to generate a detection signal; the pneumatic host is used to generate the instruction in real time according to the detection signal.
The system according to claim 1 is characterized in that the electrical stimulation host is electrically connected to a patch; the patch is used to be attached to at least one muscle of the forearm of the target object.
The system according to claim 3 is characterized in that the electric stimulation host and the patch are both connected with magnetic buckles; when the magnetic buckle located on the electric stimulation host and the magnetic buckle located on the patch cooperate and attract each other, the electric stimulation host is electrically connected to the patch.
The system according to claim 3 is characterized in that the pneumatic host is used to simultaneously control a plurality of the electrical stimulation hosts, and each of the electrical stimulation hosts is connected to a different muscle of the forearm of the target subject to which the patch is attached.
The system according to claim 1, characterized in that the electrical stimulation host and the pneumatic Hosts communicate with each other via wireless signals.
A method for controlling a pneumatic main engine, used for controlling a pneumatic main engine in an arm movement training system according to any one of claims 1 to 6, characterized in that it comprises:

S101, the pneumatic host is turned on to control the magnitude and direction of the air pressure output to the pneumatic glove so that the pneumatic glove stretches or flexes the hand of the target object;

S102, when training starts, the pneumatic host sends a signal to the electric stimulation host to make the electric stimulation host enter a command mode;

S103, the pneumatic host outputs negative pressure to gradually stretch the pneumatic glove, and at the same time sends instructions to the electrical stimulation host, so that the electrical stimulation host outputs electrical stimulation to the forearm of the target object covered with the pneumatic glove, so as to assist the wrist joint of the target object to exert force;

S104, the pneumatic host outputs positive pressure to gradually bend the pneumatic glove, and stops sending instructions to the electrical stimulation host, so that the electrical stimulation host stops outputting electrical stimulation to the forearm of the target object covered with the pneumatic glove, so as to relax the wrist joint of the target object;

S105, repeat S103 and S104 until the training is completed.
The control method of the pneumatic main engine according to claim 7, characterized in that the step S102 comprises:

The data glove wrapped around the hand of the reference object detects the flexion and extension state of the hand of the reference object to generate a detection signal; and the pneumatic host generates the instruction according to the detection signal.
The control method of the pneumatic main engine according to claim 7, characterized in that said S103 comprises:

When the pneumatic host outputs negative air pressure, the current value output by the electrical stimulation host is controlled to gradually increase to a first preset current value, so that the current value output by the electrical stimulation host continues to be the first preset current value in a first period of time.
The control method of the pneumatic main engine according to claim 7, characterized in that the step S104 include:

When the pneumatic host outputs positive air pressure, the current value output by the electrical stimulation host is controlled to gradually decrease to a second preset current value, so that the current value output by the electrical stimulation host continues to be the second preset current value in a second time period.
The control method of the pneumatic main engine according to claim 7 is characterized in that the control method of the pneumatic main engine satisfies a passive training mode and a mirror training mode;

When in the passive training mode, the pneumatic host automatically cycles between positive and negative air pressure outputs according to a preset time;

When in the mirror training mode, the pneumatic host switches the positive air pressure and negative air pressure output according to the flexion and extension state of the hand of the reference object detected by the data glove.
A control method for an electrical stimulation host, used to control the electrical stimulation host in the arm movement training system according to any one of claims 1 to 6, characterized in that it comprises:

S201, the electrical stimulation host is in a default training mode after being turned on, and establishes communication with the pneumatic host;

S202, when the electrical stimulation host obtains the first instruction of the pneumatic host, the electrical stimulation host enters the instruction mode and starts timing;

S203, when the electrical stimulation host continuously obtains the second instruction of the pneumatic host within the preset time period, it outputs electrical stimulation, and the current value of the electrical stimulation gradually increases to the preset current value of the current training mode;

S204, when the second instruction obtained by the electrical stimulation host stops, the timing is restarted, and the current value of the electrical stimulation decreases at a uniform speed from the current value;

Or when the electrical stimulation host obtains the third instruction, the current value of the electrical stimulation decreases at a uniform speed from the current value;

When the electrical stimulation host obtains the second instruction again, the current value of the electrical stimulation gradually increases from the current value to the preset current value of the current training mode;

S205, when the second instruction stops for more than a preset interruption time, the electrical stimulation host is turned off.