CN-121971838-A - Wrist training method, device, equipment and medium

CN121971838ACN 121971838 ACN121971838 ACN 121971838ACN-121971838-A

Abstract

The application discloses a wrist training method, a wrist training device, wrist training equipment and wrist training media, and relates to the technical field of medical appliances. The scheme is applied to an upper limb constant-speed rehabilitation trainer consisting of a processor, a grip ball assembly, a film pressure sensor array, a multi-axis driving actuating mechanism and an inertial sensor, when a measured object grips the grip ball assembly, the multi-axis driving actuating mechanism is controlled to drive the grip ball assembly to move in multiple directions, the corresponding resistance pressure value and the maximum inclination angle of each direction are acquired through the film pressure sensor array and the inertial sensor so as to analyze the exertion direction and the exertion force of the measured object in real time, then the training mode of each direction is determined according to the corresponding resistance pressure value, finally the multi-axis driving actuating mechanism is controlled to drive the grip ball assembly to execute training movement based on the corresponding resistance pressure value, the maximum inclination angle and the training mode of each direction, so that the wrist self-adaptive training is realized, and the personalized and dynamic-changing rehabilitation requirements of the measured object are met.

Inventors

HE YONGZHENG
MENG LINGKE
MA ZHIGANG
FAN YONGYAN

Assignees

河南翔宇医疗设备股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260127

Claims (10)

1. The wrist training method is characterized by being applied to a processor in an upper limb constant-speed rehabilitation training device, the upper limb constant-speed rehabilitation training device further comprises a grip ball assembly, a film pressure sensor array, a multi-shaft driving executing mechanism and an inertial sensor, the grip ball assembly is connected with a motion end of the multi-shaft driving executing mechanism, the inertial sensor is arranged at the center of the grip ball assembly, the film pressure sensor array covers the whole outer surface of the grip ball assembly, and the processor is in communication connection with the film pressure sensor array, the multi-shaft driving executing mechanism and the inertial sensor, and the method comprises the following steps: When a measured object grasps the grip ball assembly, controlling the multi-shaft driving executing mechanism to drive the grip ball assembly to move in multiple directions, and collecting corresponding resistance pressure values and maximum inclination angles in all directions through the film pressure sensor array and the inertial sensor; Determining training modes in all directions according to the corresponding resistance pressure values; and controlling the multi-shaft driving executing mechanism to drive the grip ball assembly to execute training movement based on the resistance pressure value, the maximum inclination angle and the training mode corresponding to each direction.
2. The wrist training method of claim 1, wherein controlling the multi-axis drive actuator to drive the grip ball assembly in a plurality of directions comprises: taking the axes of the upper pole and the lower pole of the grip ball assembly as a reference shaft, and carrying out multiple average rotation projection division on the grip ball assembly around the reference shaft so as to determine multiple directions of the grip ball assembly; And controlling the multi-shaft driving executing mechanism to drive the grip ball assembly to move in each direction respectively according to the preset force variation rate.
3. The wrist training method according to claim 2, wherein the acquisition of the resistance pressure value and the maximum inclination angle corresponding to each direction by the thin film pressure sensor array and the inertial sensor comprises: When the grip ball assembly moves to one direction, monitoring a pressure value in a corresponding direction through the film pressure sensor array, and monitoring an inclination angle in the corresponding direction through the inertial sensor; judging whether discontinuous stepwise attenuation or complete disappearance of the pressure value in the corresponding direction occurs; If so, determining the last acquired pressure value of the film pressure sensor in the corresponding direction as the resistance pressure value in the corresponding direction, and determining the last acquired inclination angle of the inertial sensor in the corresponding direction as the maximum inclination angle in the corresponding direction.
4. A wrist training method according to claim 3, wherein determining training patterns for each direction based on the corresponding resistance pressure values comprises: Obtaining a maximum driving force value of the multi-axis driving executing mechanism; when the ratio of the resistance pressure value to the maximum driving force value is smaller than a first percentage, determining the training mode in the corresponding direction to be a passive training mode; When the ratio of the resistance pressure value to the maximum driving force value is not smaller than a first percentage and not larger than a second percentage, determining the training mode in the corresponding direction to be an active power-assisted training mode; When the ratio of the resistance pressure value to the maximum driving force value is greater than a second percentage, determining that the training mode in the corresponding direction is an active resistance training mode; wherein the first percentage is less than the second percentage.
5. The wrist training method according to claim 4, wherein controlling the multi-axis drive actuator to drive the grip ball assembly to perform a training motion based on the resistance pressure value, the maximum inclination angle, and the training pattern corresponding to each direction, comprises: When the training mode is the passive training mode, controlling the multi-shaft driving executing mechanism to drive the grip ball assembly to carry out traction movement in a corresponding direction according to a preset track, and monitoring the gripping condition of a measured object on the grip ball assembly through the film pressure sensor array; When the training mode is the active power assisting training mode, determining a target training angle according to the maximum inclination angle, and determining a power assisting moment value according to the resistance pressure value and the power assisting coefficient; controlling the multi-axis driving executing mechanism to drive the grip ball assembly to perform power-assisted movement in a corresponding direction according to a target training angle and the power-assisted moment value, and monitoring the gripping condition of a measured target on the grip ball assembly through the film pressure sensor array; when the training mode is the active resistance training mode, determining a target training angle according to the maximum inclination angle, and determining a resistance moment value according to the resistance pressure value and the resistance coefficient; And controlling the multi-axis driving executing mechanism to drive the grip ball assembly to perform resistance movement in the opposite direction of the corresponding direction according to the target training angle and the resistance moment value, and monitoring the gripping condition of the measured target on the grip ball assembly through the film pressure sensor array.
6. The wrist training method according to any one of claims 1 to 5, further comprising: After the tested target finishes training for preset times, counting the pressure uniformity index and the pressure center track of the grip ball assembly in each direction in each training; When the pressure uniformity index in the corresponding direction is decreased and the jitter amplitude of the pressure center track is reduced, determining that the control capability of the measured target is improved; And when the pressure uniformity indexes in the corresponding directions are increased, and the jitter amplitude of the pressure center track is increased, determining that the control capability of the measured target is reduced.
7. The wrist training method of claim 6, further comprising: Decreasing the first percentage and the second percentage when the control capability of the measured object is confirmed to be improved; when it is confirmed that the control ability of the object to be measured is lowered, the first percentage and the second percentage are raised.
8. A wrist training device is characterized by being applied to a processor in an upper limb isokinetic rehabilitation training device, and comprises: The initialization module is used for controlling the multi-axis driving executing mechanism to drive the grip ball assembly to move in multiple directions when a measured object grips the grip ball assembly, and collecting the corresponding resistance pressure value and the maximum inclination angle in all directions through the film pressure sensor array and the inertial sensor; the mode determining module is used for determining training modes in all directions according to the corresponding resistance pressure values; And the training execution module is used for controlling the multi-axis driving execution mechanism to drive the grip ball assembly to execute training movement based on the resistance pressure value, the maximum inclination angle and the training mode corresponding to each direction.
9. A wrist training apparatus, comprising: A memory for storing a computer program; processor for implementing the steps of the wrist training method according to any one of claims 1 to 7 when executing said computer program.
10. A computer readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the wrist training method according to any one of claims 1 to 7.

Description

Wrist training method, device, equipment and medium Technical Field The application relates to the technical field of medical instruments, in particular to a wrist training method, a wrist training device, wrist training equipment and wrist training media. Background Wrist rehabilitation training is crucial to recovering functional disorder caused by cerebral apoplexy, nerve injury or orthopaedics operation, and aims to reconstruct hand functions through active or passive exercise and improve life self-care ability of patients. Currently, technology in this field is evolving from mechanically assisted training to interactive systems that integrate sensing and intelligent feedback. However, the current partial schemes only pay attention to grip strength or single finger pressure, and cannot acquire the fine pressure distribution and force direction of the whole palm, the schemes adopting discrete pressure buttons and preset actions lack the flexibility of adaptively switching active and passive training modes according to the real-time muscle strength state of a patient, and the schemes relying on myoelectric signals to switch with fixed frequency thresholds cannot fully integrate the real-time pressure distribution and movement direction information to realize dynamic adjustment. These limitations make it difficult for the training process to accurately meet the patient's individualized and dynamically changing rehabilitation needs. In view of the above, how to solve the problems of incomplete monitoring and insufficient self-adaptive capacity in the current wrist rehabilitation training, and difficult to accurately meet the rehabilitation requirements of individuation and dynamic changes of patients, is a problem to be solved by the technicians in the field. Disclosure of Invention The application aims to provide a wrist training method, device, equipment and medium, which are used for solving the problems that the existing wrist rehabilitation training is incomplete in monitoring and insufficient in self-adaptive capacity, and is difficult to accurately meet the individual and dynamic rehabilitation requirements of patients. The application provides a wrist training method, which is applied to a processor in an upper limb constant-speed rehabilitation training device, wherein the upper limb constant-speed rehabilitation training device further comprises a grip ball assembly, a film pressure sensor array, a multi-shaft driving executing mechanism and an inertial sensor, the grip ball assembly is connected with a motion end of the multi-shaft driving executing mechanism, the inertial sensor is arranged at the center of the grip ball assembly, the film pressure sensor array covers the whole outer surface of the grip ball assembly, the processor is in communication connection with the film pressure sensor array, the multi-shaft driving executing mechanism and the inertial sensor, and the method comprises the following steps: When a measured object grasps the grip ball assembly, controlling the multi-shaft driving executing mechanism to drive the grip ball assembly to move in multiple directions, and collecting corresponding resistance pressure values and maximum inclination angles in all directions through the film pressure sensor array and the inertial sensor; Determining training modes in all directions according to the corresponding resistance pressure values; and controlling the multi-shaft driving executing mechanism to drive the grip ball assembly to execute training movement based on the resistance pressure value, the maximum inclination angle and the training mode corresponding to each direction. In one aspect, controlling the multi-axis drive actuator to drive the grip ball assembly to move in a plurality of directions includes: taking the axes of the upper pole and the lower pole of the grip ball assembly as a reference shaft, and carrying out multiple average rotation projection division on the grip ball assembly around the reference shaft so as to determine multiple directions of the grip ball assembly; And controlling the multi-shaft driving executing mechanism to drive the grip ball assembly to move in each direction respectively according to the preset force variation rate. On the other hand, the method for acquiring the resistance pressure value and the maximum inclination angle corresponding to each direction through the film pressure sensor array and the inertial sensor comprises the following steps: When the grip ball assembly moves to one direction, monitoring a pressure value in a corresponding direction through the film pressure sensor array, and monitoring an inclination angle in the corresponding direction through the inertial sensor; judging whether discontinuous stepwise attenuation or complete disappearance of the pressure value in the corresponding direction occurs; If so, determining the last acquired pressure value of the film pressure sensor in the corresponding direction as the