CN102039031A - Multifunctional rehabilitation system for hands based on virtual reality - Google Patents
Multifunctional rehabilitation system for hands based on virtual reality Download PDFInfo
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- CN102039031A CN102039031A CN 201010608667 CN201010608667A CN102039031A CN 102039031 A CN102039031 A CN 102039031A CN 201010608667 CN201010608667 CN 201010608667 CN 201010608667 A CN201010608667 A CN 201010608667A CN 102039031 A CN102039031 A CN 102039031A
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Abstract
The invention discloses a multifunctional rehabilitation system for hands, comprising a rocker device, a grip ring device and a virtual reality module, wherein the rocker device and the grip ring device are connected and are used for controlling game roles in the virtual reality module; a diseased hand is placed in a grip ring groove; grip or pinch is generated to drive a rocker to deflect; and the grip or the pinch and the deflecting angle and the deflecting speed of the rocker are read and transmitted to the visual reality module so as to control the game roles in the module to finish a game and further realize rehabilitation training for the diseased hand. For the multifunctional rehabilitation system, active training is adopted, the cost is lower, the operation is simple, long-term monitoring of a doctor is not needed, independent use can be realized in families and the application range is greatly widened.
Description
Technical field
The present invention relates to human upper limb functional rehabilitation equipment, specifically be meant a kind of rehabilitation system of multifunctional hand.This system can assist the patient to carry out the hand grip, pinches power, the rehabilitation training of wrist joint flexibility, single finger flexibility and finger harmony etc.
Background technology
Staff is as one of human body most important function organ, and its crisscross neural blood vessel, the little muscle that spreads all over full hand cause that the treatment of hand wound requires height, difficulty is big, convalescence is long.Staff also is one of organ of damage extremely easily simultaneously, and hand injury can cause symptoms such as hand muscular atrophy, anchylosis, has a strong impact on normal live and work.There is research to point out that certain auxiliary rehabilitation exercise will help the rehabilitation of hand injury defensive position function.Along with increasing of some sick and wounded accidents and paralytic in recent years, adopt that artificial rehabilitation training effect is not ideal enough, rehabilitation duration is long, cost is higher, more and more become the burden of society and family.
At above problem, a lot of research institutions, company and individual make great efforts to attempt designing and a kind ofly can substitute artificial hand function rehabilitation training equipment, and have obtained certain achievement.A kind of exoskeleton-type rehabilitation system of the graceful Chester scientific research personnel of the university design of Britain adopts idea of modular, realizes the rehabilitation exercise of four fingers.Total is made up of three parts: dermoskeleton frame module, gloves module and motor drive module; A kind of novel rehabilitation manipulator of Harbin Engineering University's development adopts gear to rotate, and integrated angle sensor and servomotor etc. are realized the motion of finger.But these equipment have following major defect at present: the virtual environment feeling of immersion deficiency of combined with virtual environment or institute's combination has not influenced rehabilitation effect to a certain extent; Do not provide rehabilitation accurately to estimate mechanism.
Summary of the invention
The object of the present invention is to provide a kind of multifunctional hand rehabilitation system based on virtual reality, this system comprises rocker actuator, has the grip coil apparatus of power sensor, the virtual reality module, can finish at trouble hold power, pinch power, the rehabilitation training of wrist joint flexibility, single finger flexibility and finger harmony etc.This system has carried out survey at the interest of hand injury colony, and with this foundation as the design virtual reality, utilize the feeling of immersion of the correlation theory raising virtual reality of feeling of immersion simultaneously, in rehabilitation course, also will carry out real-time online detection and storage to the information of suffering from hand, with real-time response and the quantitative rehabilitation evaluation of later stage that is used for virtual reality, thereby solved existing equipment virtual reality immersion sense deficiency, not in conjunction with problems such as rehabilitation evaluation accurately mechanism.
For realizing that the concrete technical scheme that purpose of the present invention adopts is:
The present invention comprises three parts substantially: rocker actuator, grip coil apparatus and virtual reality module.Described rocker actuator is connected with described grip circle, suffering from hand is placed in the grip circle groove, produce grip or pinch power and drive rocking bar deflection, the trouble that the power sensor reads is in real time held power or is pinched power, and the size of rocking bar deflection angle and speed, send described virtual reality module to, carry out rehabilitation training with the game role in the manipulation module, this virtual reality module stores rehabilitation training data simultaneously are with the rehabilitation evaluation after being used to train.
Described rocker actuator comprises rocking bar and base, this rocking bar is fixed on the base, can be at the two-dimensional space intrinsic deflection, its deflection angle and speed are used for controlling the position and the speed of the game role in the virtual reality module, reaching the purpose of utilizing rocking bar to control virtual role in real time, thereby strengthen the feeling of immersion of virtual reality.In addition, the deflection angle of rocking bar and speed have also reflected the flexibility of suffering from wrist joint, so also can be used for the rehabilitation evaluation in later stage.Suffer from hand and get by holding, pinch and get and mobile grip circle makes rocking bar deflection, thereby make rocking bar finish above-mentioned functions.
The grip coil apparatus of the described power of having sensor is a circle ring device that has groove structure, suffers from hand and can get by holding, pinch and get the grip circle and to finish trouble is held power, pinched the rehabilitation training of power.Power sensor on the grip circle is SMD power sensor, and it is attached on the groove on the grip circle, is used for responding in real time and reads the grip of suffering from hand or pinch power, is used for the rehabilitation evaluation in later stage and the game role of control virtual reality.
Described virtual reality module comprises virtual game unit and memory cell, described virtual game unit provides virtual game, utilization is suffered from the grip of hand generation or is pinched power and suffer from angle and the speed of wrist joint rotation to the rocker actuator generation, correspondingly the role in the control recreation plays, and realizes the grip of suffering from hand, pinches power, single finger flexibility, points the rehabilitation training of harmony and wrist joint flexibility etc. more.The grip and the data such as angle and speed that produce in the described cell stores training are to be used for the rehabilitation training evaluation in later stage.
Virtual game comprises shooting game, car race game, gesture conversion recreation, is used for carrying out grip to suffering from hand respectively, pinches power, single finger flexibility, points the rehabilitation training of harmony and wrist joint flexibility etc. more.Three virtual environments all are the modes by survey, develop design according to the interest of patient colony.
The invention has the advantages that: at patient's interest design virtual environment, guaranteed the feeling of immersion of virtual environment, and in concrete rehabilitation training process, continue to optimize the feeling of immersion of virtual environment according to patient's human body indicators, to improve rehabilitation efficacy, shorten rehabilitation duration.Whole training process all is at the active training of suffering from hand, has guaranteed the security of rehabilitation course to a great extent.This apparatus structure is simple, design is ingenious, and cost is not high, helps promoting the use of.
In addition, this invention from trouble hold power, pinch power, aspect such as finger flexibility carries out rehabilitation evaluation accurately, and in conjunction with survey, human body indicators analysis etc. qualitative and quantitative methods is inquired into the foundation of virtual environment feeling of immersion model, be used for virtual reality continue to optimize and improve the future of this contrive equipment.
The above defective that the present invention is directed to existing equipment discloses a kind of hand function rehabilitation system.It uses schemes such as survey, analysis human body index of correlation to improve the feeling of immersion of institute's combined with virtual reality, and provides rehabilitation accurately to estimate mechanism when reducing equipment cost.Can finish the hand grip, pinch power, single finger flexibility, point the rehabilitation training of harmony and wrist joint flexibility etc. more, in addition, it is ingenious, simple in structure that the present invention designs, and becomes passive exercise into initiatively training, stopped the unsafe factor in the rehabilitation course basically.
Hand function rehabilitation system based on virtual reality provided by the invention is characterised in that: rehabilitation training is initiatively training, and cost is lower, simple to operate, does not need doctor's long-term monitoring, can independently use in the family, but has increased its range of application greatly.
The present invention is a kind of hand function rehabilitation system that is widely used in clinical and the family.
Description of drawings
Fig. 1 is a hand injury multifunctional recovery system schematic of the present invention;
Fig. 2 holds power and the movable scope rehabilitation training of wrist joint schematic diagram for suffering from;
Fig. 3 pinches power and the movable speed rehabilitation training of wrist joint schematic diagram for suffering from hand;
Fig. 4 is for suffering from coordination ability rehabilitation training schematic diagram between the single finger flexibility of hand and each finger;
Among the figure: 1 is the grip circle, and 2 is the power sensor, and 3 is rocking bar, and 4 is base.
The specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments:
Shown in Fig. 1-4, multifunctional hand rehabilitation system of the present invention is made up of rocker actuator, the grip coil apparatus that has the power sensor, virtual reality module.
Rocker actuator comprises base 4 and the rocking bar 3 above it, base 4 is used for fixing whole device, the angular deflection scope of rocking bar 3 and speed responsing suffer from the flexibility of wrist joint, can control some attribute of the specific role in the virtual game, simultaneously, this angular deflection scope and translational speed also can be stored to be used for the rehabilitation evaluation in later stage.
The grip coil apparatus that has the power sensor comprises grip circle 1 and the SMD pressure sensor 2 that contains groove structure, wherein: grip circle 1 is connected with rocking bar 3, get trouble holding, pinch get and mobile grip circle 1 in, rocking bar 3 is also with deflection thereupon, thereby makes rocker actuator finish its function.Post several power sensors 2 above the grip circle 1, can read trouble and hold power, pinch power and each finger applied force.This device will finish improve to suffer from hold power, pinch power, improve the wrist joint flexibility, the function of the coordination ability of single finger flexibility and finger.
Described virtual reality module comprises virtual game unit and memory cell, described virtual game unit provides virtual game, utilization is suffered from the grip of hand generation or is pinched power and suffer from angle and the speed of wrist joint rotation to the rocker actuator generation, correspondingly the role in the control recreation plays, and realizes the grip of suffering from hand, pinches power, single finger flexibility, points the rehabilitation training of harmony and wrist joint flexibility etc. more.The grip and the data such as angle and speed that produce in the described cell stores training are to be used for the rehabilitation training evaluation in later stage.
Virtual game comprises shooting game, car race game, gesture conversion recreation, is used for carrying out grip to suffering from hand respectively, pinches power, single finger flexibility, points the rehabilitation training of harmony and wrist joint flexibility etc. more.Three virtual environments all are the modes by survey, develop design according to the interest of patient colony.
The present invention is directed to hand injury colony, 52 people that randomly draw have been done survey, draw the favorite several virtual games of this colony, design and develop.Every kind of virtual game all can be finished one or more the rehabilitation training function of the following stated: improve the grip of suffering from hand and pinch power, increase the flexibility of suffering from wrist joint, the coordination function between the flexibility that improves single finger and each finger etc.Below will introduce each virtual game in detail.
Virtual game comprises shooting game, can finish the flexibility of improve suffering from wrist joint, improves the grip of suffering from hand, pinch rehabilitation training such as power.In this virtual game, the deviation angle of rocking bar 3 and speed are used for controlling the aiming point and the change speed thereof of tank; If power sensor 2 reads the grip of suffering from hand or pinches the power size greater than certain threshold value, and tank fires shells.Needs of patients is regulated yawing moment and the speed and the grip of rocking bar in real time, the power of pinching is big or small so that make tank hit other roles in the recreation as far as possible.The number of times that continuous mobile or fixed other roles (helicopter, robot etc.) are hit in this virtual game and the time of game running will determine the upgrading of recreation and finish.The patient also can be familiar with level and rehabilitation degree above-mentioned threshold size, game level and other roles' the translational speed and the frequency of occurrences etc. are set artificially according to own to playing.
Virtual game also comprises car race game, and this virtual game also can finish the flexibility of improve suffering from wrist joint, improve the grip of suffering from hand and pinch rehabilitation training such as power.In this virtual game, the deviation angle of rocking bar 3 and speed are used for controlling direction and the speed that sport car is turned in the recreation; Power sensor 2 reads the grip of suffering from hand or the pace that the power size of pinching is used for controlling sport car.Needs of patients changes pace and the direction of adjusting sport car in real time according to the complications of landform and road, to finish travelling of a runway with the shortest time.
Virtual game also comprises gesture conversion recreation, and this virtual game is finished the rehabilitation training that improves the coordination ability between single finger flexibility and each finger.The power visual information size that this recreation will be read according to 4 power sensors of stickup on the grip circle 1 is as distinguishing the standard whether gesture conversion and single finger move.This recreation can be finished forefinger, middle finger, the recovery of nameless independently moving ability and suffer from the rehabilitation training that hand is finished gesture conversion such as " scissors, stone, cloth ".The patient needs in real time constantly to adjust according to each finger activity of virtual hand in the virtual environment and gesture conversion and suffers from the single finger of hand or gesture to finish the rehabilitation training in this stage.
In addition, the size variation that above-mentioned virtual environment all can be by real time record power sensor 2 and the deflection angle of mean value and rocking bar 3 and speed wait and reflect the various rehabilitation information of suffering from hand, as trouble hold power, pinch power, the movable scope of wrist joint and speed, used time of rehabilitation training and virtual game performance level etc. carry out the rehabilitation evaluation in later stage.
Use of the present invention: at first, the doctor carries out dependent evaluation to patient's hand, and the guiding patient adopts correct posture to hold and gets, pinches and get grip circle 1, and selects suitable virtual game; Then, registration or login virtual environment were used for being familiar with this equipment and virtual game in preceding 5 minutes, then enter 20 minutes rehabilitation training stage, in this stage, suffering from hand needs to adjust the deflection of rocking bar 3 in real time and is applied to power size on the power sensor 1, to finish corresponding virtual game; At last, the patient can select to fill in or give an oral account the impression to this equipment and virtual environment, with the improvement that cooperates present device and the raising of virtual environment feeling of immersion.Rehabilitation evaluation mechanism of the present invention also will provide training this time with respect to the relevant information of previous training hand changes of function when each rehabilitation training finishes, when above-mentioned each function of suffering from hand reaches the rehabilitation evaluation index, then suffer from hand and obtain rehabilitation, whole training process also declares to be finished.
Claims (6)
1. multifunctional hand rehabilitation system, be used for carrying out rehabilitation training to suffering from the hand hand function, this system comprises rocker actuator, grip coil apparatus and virtual reality module, described rocker actuator is connected with described grip coil apparatus, and one is used from the game role of handling in the virtual game that described virtual reality module provides;
Suffering from hand is placed in the grip circle groove, produce grip or pinch power and drive rocking bar deflection, described grip or pinch power and rocking bar deflection angle and speed are read and send to described virtual reality module, the game role of controlling in the described virtual reality module is finished recreation, realizes carrying out rehabilitation training to suffering from hand.
2. system according to claim 1 is characterized in that, described virtual reality module can be stored the Various types of data in the rehabilitation training, with the rehabilitation evaluation after being used to train.
3. system according to claim 1 and 2, it is characterized in that, described virtual reality module comprises virtual game unit and memory cell, described virtual game unit provides virtual game, angle and speed that utilize to suffer from the grip that hand produces or pinch power and the rotation of rocker actuator is produced, correspondingly the role in the control recreation plays, and realizes suffering from the rehabilitation training of hand; Described memory cell realizes the storage to the Various types of data in the storage rehabilitation training.
4. according to the described system of one of claim 1-3, it is characterized in that the groove on the described grip circle is provided with the power sensor, be used for responding in real time and read and suffer from hand and be applied to the grip on the grip circle or pinch power.
5. according to the described system of one of claim 1-4, it is characterized in that rocker actuator comprises base (4) and rocking bar (3), described base (4) is used for fixing whole device, described rocking bar (3) is arranged on this base (4), and the other end is connected with described grip coil apparatus.
6. according to the described system of one of claim 3-5, it is characterized in that virtual game comprises shooting game, car race game and gesture conversion recreation.
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| CN 201010608667 CN102039031B (en) | 2010-12-28 | 2010-12-28 | Multifunctional rehabilitation system for hands based on virtual reality |
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| CN102813518A (en) * | 2012-09-11 | 2012-12-12 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
| CN104412269A (en) * | 2012-01-04 | 2015-03-11 | 加贝尔·塞鲁蒂 | Method and apparatus for neuromotor rehabilitation using interactive setting systems |
| CN104699246A (en) * | 2015-03-10 | 2015-06-10 | 深圳威阿科技有限公司 | Method and system of tension simulation |
| CN104936661A (en) * | 2012-11-07 | 2015-09-23 | 卡拉汉创新研究有限公司 | Arm exercise device and system |
| CN105640733A (en) * | 2014-11-11 | 2016-06-08 | 深圳宝葫芦机器人有限公司 | Upper limb rehabilitation robot and control method thereof |
| CN106176009A (en) * | 2016-07-01 | 2016-12-07 | 上海精鸣生物科技有限公司 | A kind of multi-modal cognition detection and rehabilitation system device |
| CN107688389A (en) * | 2017-08-25 | 2018-02-13 | 北京金恒博远科技股份有限公司 | The optimization method and device of VR grasping movements |
| CN108354769A (en) * | 2018-01-16 | 2018-08-03 | 西南医科大学附属医院 | Hemiparalysis recovery sick bed |
| CN108704275A (en) * | 2018-06-28 | 2018-10-26 | 上海电机学院 | Motion function rehabilitation training system based on body-sensing technology |
| CN111888729A (en) * | 2020-07-30 | 2020-11-06 | 同济大学 | Cognitive and upper limbs comprehensive training device based on directional motion |
| CN112316364A (en) * | 2020-10-28 | 2021-02-05 | 江苏苏云医疗器材有限公司 | Upper limb coordination training device and training method |
| CN112542225A (en) * | 2019-09-20 | 2021-03-23 | 河南翔宇医疗设备股份有限公司 | Rehabilitation training interaction method, device and equipment |
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| CN104412269A (en) * | 2012-01-04 | 2015-03-11 | 加贝尔·塞鲁蒂 | Method and apparatus for neuromotor rehabilitation using interactive setting systems |
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| CN102813518A (en) * | 2012-09-11 | 2012-12-12 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
| CN102813518B (en) * | 2012-09-11 | 2014-05-28 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
| CN104936661A (en) * | 2012-11-07 | 2015-09-23 | 卡拉汉创新研究有限公司 | Arm exercise device and system |
| CN105640733A (en) * | 2014-11-11 | 2016-06-08 | 深圳宝葫芦机器人有限公司 | Upper limb rehabilitation robot and control method thereof |
| CN105640733B (en) * | 2014-11-11 | 2018-09-18 | 深圳宝葫芦机器人有限公司 | A kind of upper limb rehabilitation robot and its control method |
| CN104699246A (en) * | 2015-03-10 | 2015-06-10 | 深圳威阿科技有限公司 | Method and system of tension simulation |
| CN104699246B (en) * | 2015-03-10 | 2018-01-26 | 深圳威阿科技有限公司 | A kind of pulling force analogy method and system |
| CN106176009A (en) * | 2016-07-01 | 2016-12-07 | 上海精鸣生物科技有限公司 | A kind of multi-modal cognition detection and rehabilitation system device |
| CN106176009B (en) * | 2016-07-01 | 2019-09-03 | 上海精鸣生物科技有限公司 | A kind of multi-modal cognition detection and rehabilitation system device |
| CN107688389A (en) * | 2017-08-25 | 2018-02-13 | 北京金恒博远科技股份有限公司 | The optimization method and device of VR grasping movements |
| CN108354769A (en) * | 2018-01-16 | 2018-08-03 | 西南医科大学附属医院 | Hemiparalysis recovery sick bed |
| CN108704275A (en) * | 2018-06-28 | 2018-10-26 | 上海电机学院 | Motion function rehabilitation training system based on body-sensing technology |
| CN112542225A (en) * | 2019-09-20 | 2021-03-23 | 河南翔宇医疗设备股份有限公司 | Rehabilitation training interaction method, device and equipment |
| CN111888729A (en) * | 2020-07-30 | 2020-11-06 | 同济大学 | Cognitive and upper limbs comprehensive training device based on directional motion |
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