HAND TRAINING METHOD WITH FORCE FEEDBACK AND HAND TRAINING DEVICE

The present invention discloses a force feedback hand training method including: providing a training game content and adjusting the training game content based on predetermined parameters; displaying the training game content on a display; determining whether an input button position of at least one input signal from a hand training device matches a predetermined input button position; and storing a determination result in a storage module.

FIELD OF THE INVENTION

This invention relates to the field of hand rehabilitation training, in particular, to a hand training method, a hand training device and a hand training system that utilizes force feedback to train patients.

BACKGROUND OF THE INVENTION

The average lifespan of the population is increasing year by year. As people age, the dexterity of the limbs tends to decline. However, there are many situations in daily life that require the use of both hands. Therefore, when the hands are unable to function properly, it can have a significant impact on daily life.

In addition, in recent years, the number of people suffering from cerebrovascular disease has been increasing. Cerebrovascular diseases are a general term for conditions that result in brain tissue damage due to poor intracranial blood circulation. Patients with acute cerebrovascular diseases, also known as strokes, often experience complications and sequelae such as hemiplegia, language disorders, and swallowing difficulties, with over half of stroke patients experiencing impaired hand movements. Therefore, cerebrovascular diseases also significantly affect the dexterity of patients' hands.

For patients experiencing a decline in hand function, from clinical point of view, the most effective method to improve hand function is functional strength training, also known as task-oriented training. This training not only helps to build strength but also enhances the coordination of hand movements, thereby improving hand function. Given the increasing elderly population in Taiwan and the rising proportion of individuals suffering from cerebrovascular diseases, coupled with a decreasing age of onset for these conditions, there is a significant need for a user-friendly hand rehabilitation training system.

SUMMARY OF THE INVENTION

In one embodiment of the present disclosure provides a force feedback hand training method, including: providing a training game content and adjusting the training game content based on predetermined parameters; displaying the training game content on a display; determining whether an input button position of at least one input signal from a hand training device matches a predetermined input button position; and storing a determination result in a storage module.

Preferably, the force feedback hand training method further includes: determining whether a value of the at least one input signal falls within a predetermined parameter threshold range.

Preferably, the force feedback hand training method of claim1, further includes: determining whether the determination result matches a predetermined error pattern; adjusting the parameters according to a parameter setting corresponding to the error pattern.

In another embodiment of the present disclosure provides a hand training device, including: a bottom surface; a top surface connecting to the bottom surface; a plurality of buttons, wherein the plurality of buttons are configured on one side of a connecting portion of the top surface and the bottom surface, and are spaced apart from each other; a plurality of pressure sensors, wherein each pressure sensor respectively corresponds to the button; and a signal transmitter configured to transmit signals generated by the pressure sensors.

Preferably, the top surface protrudes in an arc shape along a normal direction of the bottom surface.

Preferably, a moving direction of the button is parallel to the bottom surface.

Preferably, the hand training device further includes a plurality of guiding portions configured on the connecting portion of the bottom surface and the top surface, wherein the guiding portions are spaced apart from the buttons.

Preferably, the guiding portions are arc-shaped and extend in a direction opposite to the bottom surface.

Preferably, a distance between a top of the guiding portion and the bottom surface is greater than a distance between a top of the button and the bottom surface.

Preferably, the two guiding portions connect to each other, and a connection part of the guiding portions is arc-shaped, with a normal vector direction opposite to a normal vector direction of the guiding portions.

Preferably, the button further includes a fixing portion configured on a side of the button opposite to the pressure sensor.

Preferably, the button further comprises a button extension portion connecting the pressure sensor, when the button moves along the direction parallel to the bottom surface, the button extension portion triggers the pressure sensor.

Preferably, the hand training device further includes a fixing portion, a pivot and the angle sensor, wherein the pivot connects the fixing portion and the angle sensor, when the fixing portion moves along a direction parallel to the bottom surface, the pivot rotates along a direction normal to the bottom surface.

Preferably, the hand training device further includes a displacement sensor configured to sense displacement of the hand training device.

Preferably, the hand training device further includes a vibrator.

In another embodiment of the present disclosure provides a hand training system, includes: a hand training device configured to collect input signals; a human-machine interface connecting to the hand training device, wherein the human-machine interface includes: a gaming module including a display, a training content processor and a memory wherein the training content processor is configured to read a training game content stored in the memory, adjust the training game content according to predetermined parameters and displays the training game content on the display; a determination module connecting to the gaming module, wherein the determination module is configured to determine whether an input button position of the input signal matches a predetermined position and determine whether a value of the input signal falls within a parameter threshold range; and a storage module configured store a determination result.

Preferably, the training game content comprises at least one control object and at least one target object, and a distance between the control object and the target object is adjusted based on the predetermined parameters.

Preferably, the hand training system further includes an augmented reality module, and the augmented reality module comprises a camera configured to capture a user's hand image and an image processor configured to combine the user's hand image with the training game content in an augmented reality manner and displays it on the display.

Preferably, the hand training device further includes a displacement sensor configured to sense displacement of the hand training device.

Preferably, the hand training device further includes a vibrator.

The hand training system provided by this disclosure allows users to view the training content on the display while inputting the corresponding signals (e.g., pressure signals) by the input device. Through interactive training based on user feedback signals, the users' hand functionality and flexibility can be improved, thereby stimulating brain functions and cognitive abilities.

DETAILED DESCRIPTION OF THE INVENTION

In order to make the aforementioned and/or other purposes, benefits, and features of the present disclosure clearer and more understandable, the following detailed description is provided, using preferred embodiments as examples.

Please refer toFIG.1.FIG.1is a schematic diagram of the hand training system in one embodiment of the present disclosure. The hand training system100includes an input device1and a human-machine interaction interface2. The input device1includes at least one sensor configured to collect user input signals, and these user input signals are transmitted to the human-machine interaction interface2through a signal transmitter. Preferably, the sensors on the input device1may be pressure sensors configured to detect the input pressure or displacement sensors configured to detect the displacement, the present disclosure is not limited to these specific sensors.

The human-machine interaction interface2includes a setting module21. Operators can use the setting module21to set the training parameters of the hand training system100. In one embodiment of the present disclosure, the parameters may include the threshold for input pressure, the location where target objects appear, the timing of the appearance of target objects, the frequency the appearance of target objects, the number of target objects, the location where obstacles appear, the timing of the appearance of obstacles, the frequency of the appearance of obstacles, the number of obstacles, total training time, acceptable error range, and so on. The present disclosure is not limited to these parameters. It should be noted that the positions where target objects and obstacles appear will correspond to the button positions on the input device1. For example, if the operator sets the location of a target object to appear at the leftmost position on the display, it means that the user needs to correspondingly press the leftmost button on the input device1(i.e., with the thumb of right hand), or if the operator sets the target object to appear in the center of the display, it means that the user must correspondingly press the button in the center of the input device1(i.e., with the middle finger of right hand), and so on.

The human-machine interaction interface2also includes a gaming module22, which includes a display, a training content processor, and a memory. The training content processor is configured to read the training game content stored in the memory and adjust the training game content according to the parameters set by the operator in the setting module21. The training content processor then displays the training game content on the display, such that the user can operate the input device1in response to the displayed content on the display.

The human-machine interaction interface2includes a determination module23configured to evaluate signals received from the input device1. When the receiver of the determination module23receives signals from the input device1, the determination module23determines whether the location of the input signal matches the position set by the operator in the setting module21. Subsequently, the determination module23determines whether the value of the input signal falls within the parameter threshold range or within an acceptable error range set by the operator in the setting module21. The determination results are stored in a storage module, and after the training session is completed, the operator can retrieve the stored determination results to assess the user's training progress and adjust the parameters in the setting module21for future training sessions.

For example, please refer toFIG.2,FIG.2is an image of the training game content in one embodiment of the present disclosure. Operators can use the setting module21to set the parameters for the appearance of the target object201(e.g., a butterfly shown inFIG.2), including its timing, location, and the required input pressure threshold range for the user. When the settings are configured, the appearance time and position of the target object201in the training game content will correspondingly change. For instance, if the operator sets a higher-pressure threshold, the target object201will appear higher on the display, and further away from the control object200. This indicates to the user that a greater input force is needed. Based on this information, users can press the corresponding button on the input device1with varying levels of force according to what is displayed on the display, thus facilitating the training sessions.

In one embodiment of the present disclosure, when the target object201appears on the display, the user can press the corresponding button on the input device1. If the pressure value applied by the user falls within the parameter threshold range set by the operator in the setting module21or within the acceptable error range, the training game image will display the control object200successfully capturing the target object201. The determination module23determines the user's input as successful and records the determination result in the storage module. On the other hand, if the pressure value applied by the user does not fall within the parameter threshold range set by the operator in the setting module21and does not fall within the acceptable error range, the training game image will show that the control object200does not capture the target object201. In this case, the determination module23determines the user's input as unsuccessful and records the determination result in the storage module. Preferably, when the user presses the buttons with their fingers, the determination module23can also evaluate the coordination of the user's fingers based on the duration of the press and the synchronization of finger movements. If the user's coordination does not meet a predetermined standard, the determination module23will determine the user's input as unsuccessful and record the determination result in the storage module.

In another embodiment of the present disclosure, operators can set the location and timing of obstacles202(e.g., spiders shown inFIG.2) in the setting module21. For example, if the user presses the corresponding button on the input device1at the moment when the obstacle202appears, the determination module23will determine the user's input as unsuccessful and record the result in the storage module.

Through the configuration of target objects201and obstacles202, the hand training system can effectively target the individual finger of the user, providing a more customized and comprehensive hand rehabilitation experience.

In another embodiment of the present disclosure, the determination module23of the human-machine interaction interface2is connected to the setting module21. When the determination module23identifies that the determination results in the storage module match a pre-stored error pattern in the database, the controller within the determination module23automatically adjusts the parameters for the next training session, based on the parameter settings corresponding to that error pattern in the database through the setting module22. This automatic adjustment is designed to target the portions where the user has performed poorly. For example, in a scenario that there is only one target object201displayed on the display, if the user simultaneously presses more than two buttons, the determination module23will determine that the user's finger independence needs to be improved. Consequently, the determination module23will automatically adjust the quantity and positioning of the target objects201and obstacles202in the next training session. On the other hand, if the target object201appears, the user presses the corresponding button, but the pressure value applied does not fall within the parameter threshold range or within the acceptable error range, the determination module23will determine that the user's finger strength control needs to be improved. The determination module23will automatically increase the target pressure threshold range and the allowable error range for the next training session.

The human-machine interaction interface2may also include an augmented reality module24. The augmented reality module24includes a camera and an image processor. The camera is used to capture the user's hand image. The image processor is connected to the gaming module22and is configured to combine the user's hand image captured by the camera with the training game content in an augmented reality manner and displays it on the display. Such that users can simultaneously watch the training game content with their hand image on the display in order to enhance the effectiveness of the training.

Please refer toFIG.3andFIG.4.FIG.3is a schematic diagram of the input device in one embodiment of the present disclosure, andFIG.4is a cross-sectional view of the input device along the A-A plane withinFIG.3. The input device1has a bottom surface11and a top surface12. The top surface12is connected to the bottom surface11. The top surface12protrudes in an arc shape in a direction opposite to the bottom surface11along the normal direction of the bottom surface11, creating an accommodating space between the top surface12and the bottom surface11. In practical, the input device1serves as a hand training device, and the arc-shaped top surface12of the input device1provides a comfortable place for users to place their palms, facilitating user operation with the input device1.

Multiple buttons13are configured on one side of the connecting portion of the top surface12and the bottom surface11, and the multiple buttons are spaced apart from each other. Specifically, the positions where the multiple buttons13are set are suitable for the users to place their fingers to facilitate pressing. Multiple pressure sensors14are installed on the bottom surface11and are located within the accommodating space formed by the top surface12and the bottom surface11. Each pressure sensor14respectively corresponds to one button13. The buttons13have button extension portions15extending towards the accommodating space and connecting to the pressure sensors14. The input device1also includes a signal transmitter16, which electrically connects to the multiple pressure sensors14and is used to transmit signals to the human-machine interaction interface2. When the user presses a button13, the button13moves toward the accommodating space in a direction parallel to the bottom surface11. The button extension portion15triggers the pressure sensor14to generate a pressure signal. The signal transmitter16then transmits the generated pressure signal to the receiver in the determination module23. The pressure signal contains information about the location of the triggered button, allowing the determination module23to determine which button was pressed. For example, if the user presses a button13with their thumb and triggers the corresponding pressure sensor14to generate a pressure signal, this pressure signal will contain information about the location that indicates the position of the thumb. When the receiver in the determination module23receives this pressure signal, the determination module23can identify that the pressed button corresponds to the thumb of the user.

It is noted that, in the state where the moving direction of the buttons13is parallel to the bottom surface11, when the user holds the input device1, the user's palm will be in an arched shape, and the fingers bend toward the palm in a gripping posture. This configuration allows the gripping motion training more accurate. In another embodiment of the present disclosure, the moving direction of the buttons13can also be non-parallel to the bottom surface11.

The input device1also includes multiple guiding portions17, which are placed at the connecting portion of the bottom surface11and the top surface12, on the same side as the buttons13, and are spaced apart from the buttons13. The guiding portions17are arc-shaped and connect to the top surface12, extending in the direction opposite to the pressure sensors14and opposite to the bottom surface11. The distance between the top of the guiding portions17and the bottom surface11is greater than the distance between the top of the buttons13and the bottom surface11. The two guiding portions17on either side of the buttons13are connected to each other, and the connection between the guiding portions17is arc-shaped, with the normal vector direction opposite to that of the guiding portions17. In practical, when the user holds the input device1, the user can place their fingers along the connection between the two guiding portions, and the fingers can slide along the sides of the guiding portions17and press the buttons13. The arc shape of the guiding portions17and the connection between the guiding portions are ergonomic, making the input device1more comfortable and convenient for users to press the buttons13.

In another embodiment of the present disclosure, as shown inFIG.5AandFIG.5B, the button13has a fixing portion18. The fixing portion18is positioned on the side of the buttons13opposite to the pressure sensors14. Preferably, the fixing portion18may have a ring structure with a hole, but the present disclosure is not limited to this, and the fixing portion18can be any structure that allows the user to press against with their fingers. In practical, the user can insert their fingers through the hole and press against the inner side of the fixing portion18with the outer side of the finger, in the direction opposite to the pressure sensors14. The buttons13will move along the direction parallel to the bottom surface11and toward the opposite direction of the pressure sensors14, causing the button extension part15to trigger the pressure sensors14generating tension signals. Such that the input device1may not only sense the pressing signals but also sense tension signals from the user's fingers, adding another dimension to the training.

In the description below, the training methods involving two different dimensions are explained. Please refer toFIG.5CandFIG.5D.

The input device1may include an elastic element that connects to the buttons13to facilitate the buttons return to the neutral position. The elastic element can be placed within the pressure sensors14or in other positions where it can provide elastic force to reset the buttons13. The present disclosure is not limited to a specific location for the elastic element. The neutral position of the buttons13, where no deformation of the elastic element has occurred, serves as a reference point. When the user's fingers press against the fixing portion18, causing the buttons13to move in the direction opposite to the pressure sensors14, the elastic element is stretched, resulting in positive displacement of the buttons13, and the pressure sensors14generates tension signals. On the other hand, when the user's fingers press the buttons13, the elastic element contracts, causing negative displacement of the buttons13, and the pressure sensors14generates pressure signals.

In another embodiment of the present disclosure, the input device1may also sense signals related to the lateral movement of the user's fingers. Please refer toFIG.5E, in this embodiment, the input device1includes a pivot19connecting the fixing portion18and the angle sensor191. When in use, the user can insert their fingers through the fixing portion18and press against the sides of the fixing portion18, causing the fixing portion18to pivot left or right around the pivot19, and the pivot19rotates along a direction normal to the bottom surface. The angle sensor191is used to detect the angle of lateral movement of the user's fingers. Preferably, the direction of lateral movement is perpendicular (90 degrees) to the pressing direction of button. Such that the input device1can provide another training dimension.

Please refer toFIG.6AandFIG.6B. When the user holds the input device1and places their fingers into the fixing portion18. The operator can select the dual-dimensional training mode from the setting module21and input training parameters. For example, in the dual-dimensional training mode, the control object200may be positioned on the horizontal centerline of the display. The operator can set the target object201to appear above or below the controlled object200, and the distance between the target object201and the control object200corresponds to the amount of tensile force or compressive force that the user needs to input.

When the target object201appears above the control object200, the user needs to extend their fingers outward, causing the buttons13to produce a positive displacement, to make the pressure sensor14generates the tension signals. If the tensile force applied by the user's fingers falls within the parameter threshold range set by the operator or within the acceptable error range, the display will display the control object200capturing the target object201. On the other hand, when the target object201appears below the control object200, the user needs to contract their fingers inward and press the buttons13, causing the buttons13to produce a negative displacement, to make the pressure sensors14generates pressure signals. If the compressive force applied by the user's fingers falls within the parameter threshold range set by the operator or within the acceptable error range, the display will display the control object200capturing the target object201. The described dual-dimensional training mode of the present disclosure is not limited to the specific examples mentioned. As long as the positive and negative displacement of the buttons13can be used to control the moving direction of the control object200, it falls within the scope of this disclosure.

In another embodiment of the present disclosure, the input device1may also include a displacement sensor configured to sense displacement. Thus, the hand training system100can train not only the user's fingers but also the upper arm and forearm of the user. Specifically, when the user holds the input device1and follows the guidance of the gaming module22to raise the hand to a specific height, the determination module23in the human-machine interaction interface2will determine whether the height at which the user raises the hand falls within the height threshold range set by the operator in the setting module21or within an allowable error range, so that the user's upper arm and forearm can be trained.

In another embodiment of the present disclosure, the input device1may also include a vibrator. When the determination module23determines that the value of the user's input signals do not fall within the parameter threshold range set by the operator in the setting module21and within an allowable error range, it can provide immediate feedback to the user through the vibrator.

Please refer toFIG.7.FIG.7is a flowchart of the hand training method in one embodiment of the present disclosure. The hand training method provided by the present invention includes the following steps.

First, in step S100, the operator enters the training parameters through the setting module21. The training content processor then adjusts the training game content based on these parameters. In step S200, the training content processor displays the training game content on the display of the gaming module22, allowing the user to operate the input device1while watching the training game content on the display.

When the user presses the button13on the input device1, the pressure sensor14is triggered to generate pressure signals. In another embodiment of the present disclosure, the user's fingers may push against the fixing portion18, causing the button13to move in the direction opposite to the pressure sensors14, and the pressure sensor14generates tension signals. In this embodiment, the determination module23of the human-machine interface2will determine whether the received signal matches the training parameters set by the operator. For example, if the operator requires the user to extend the fingers outward, but the human-machine interface2received a pressure signal, then the determination module23will determine an input error and record this result in the storage module.

Next, in step S300, the determination module23will determine whether the position of the input signal matches the input position set by the operator in the setting module21. For example, the operator can set in the setting module21requiring the user to simultaneously flex or extend one or more fingers. Specifically, the operator can set the training parameters requiring that the user needs to press both of the buttons corresponding to the thumb and index finger positions on the input device1to simulate a pinching motion. In this case, the display will display two target objects201and two control objects200, each appearing at the left side of the display where correspond to the user's thumb and index finger buttons. If the user presses the buttons corresponding to the thumb and index finger and trigger the pressure sensors14, the determination module23will determine whether the button position of the input signal match the operator's settings. If one or both of the buttons corresponding to the thumb and index finger are not pressed, the determination module23will determine an input error and record this result in the storage module. It is noted that the thumb and index finger pressing is just one embodiment of the present disclosure, and the disclosure is not limited to this. In other embodiments, the operator can set in the setting module to require the user to flex or extend any one or multiple fingers for training.

In step S400, if the value of the input signal falls within the parameter threshold range and allowable error range set by the operator in the setting module21, the determination module23determines a successful input by the user. The display will display the control object200capturing the target object201, and, in step S500, the determination module23will record the determination result in the storage module. The operator can adjust the parameters for the next training session based on the recorded results in the storage module. Alternatively, the determination module23can automatically compare the user's error pattern with error patterns established in a database. If the user's error pattern matches one of the error patterns in the database, the determination module23will automatically modify the parameters corresponding to that error pattern through the setting module21to adjust the parameters for the next training session, such that parameters may be adjusted automatically.

It is noted that in the hand training method of the present disclosure, the structure of the input device is not limited to the input device described previously. In another embodiment of the disclosure, as shown inFIG.8, the input device can be in a planar manner. The input device may include a supporting portion31and a side portions32, with the supporting portion31connected to the side portions32. The input device also includes multiple buttons33, with one button33set on the side portion32corresponding to the user's thumb, and the other multiple buttons33are configured on the supporting portion31and spaced apart from each other, corresponding to the user's other four fingers. Each of the button33may have a fixing portion34. In practical, the user can place their palm on the supporting portion31, with the thumb passing through the fixing portion of the button on the side portion32and the other four fingers passing through the fixed portions of the buttons on the supporting portion31and resting flat on the buttons.

In another embodiment of the present disclosure, as shown inFIG.9, the input device can be in vertical manner. The input device may include a gripping portion41and multiple buttons42, with each button having a fixing portion43. One button42is set on the first side of the gripping portion41corresponding to the user's thumb, and the other multiple buttons42are configured on the second side of the gripping portion41opposite to the first side. Those buttons are spaced apart from each other and correspond to the user's other four fingers. In practical, the user can pass their thumb through the fixing portion of the button on the first side and pass the other four fingers through the fixing portions of the buttons on the second side, allowing the hand to grasp the input device in an upright posture, thereby more accurately simulating the gripping posture in daily life.

It is noted that, in addition to the above-mentioned input device structures, the hand training method and hand training system of the present disclosure may also be used in conjunction with other input device structures and sensors to simulate more of hand movements for training purposes.

Through the hand training method, hand training device, and hand training system provided by the present disclosure, users can simultaneously look at the training game content on the display and input corresponding signals (e.g., pressure signals) using the input device. This interactive training method helps to improve the user's hand functionality and flexibility, stimulating brain and cognitive functions through user's feedback. The system is non-wearable meaning there is no need for additional mechanical devices (e.g., exoskeleton assistance devices) when using. This makes the system lightweight, convenient, and suitable for patients with various conditions. Furthermore, operators can set the training parameters by the setting module or allow the system to automatically adjust parameters based on the user's input errors, such that the training process can be automatic.

The above description represents only preferred embodiments of the present invention, and the scope of the present invention should not be limited to these embodiments. Therefore, any simple equivalent changes and modifications made according to the scope of the patent claims and the content of the invention disclosure are still within the scope of the present invention.