CN104706499B - Upper limbs cranial nerves rehabilitation training system - Google Patents
Upper limbs cranial nerves rehabilitation training system Download PDFInfo
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- CN104706499B CN104706499B CN201310680870.3A CN201310680870A CN104706499B CN 104706499 B CN104706499 B CN 104706499B CN 201310680870 A CN201310680870 A CN 201310680870A CN 104706499 B CN104706499 B CN 104706499B
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Abstract
The invention discloses a kind of upper limbs cranial nerves rehabilitation training system and training method.Wherein system includes that upper extremity exercise can be driven and the mechanical structure with force feedback function, 3D display device, loudspeaker, and information processor, mechanical structure, 3D display device, and loudspeaker connect with information processor communication；Information processor includes virtual reality module and human-computer interaction module, and virtual reality is shown by 3D display device；User can select the project of training, printing training form and adjustment systematic parameter by interactive software；User is by the scene interaction in mechanical structure and virtual reality, while the sound in virtual environment, image and power feel that information feeds back to user by display, loudspeaker and mechanical device respectively.It makes training content rich and variedization, strengthens the interest of rehabilitation training, while rehabilitation training is an apprentice of in cumbersome manual labor and freed, and saves human cost.
Description
Technical field
The present invention relates to medical rehabilitation field, more particularly to a kind of upper limbs cranial nerves rehabilitation training system and training method.
Background technology
The training of upper limbs cranial nerves rehabilitation has great importance for patients such as apoplexy and brain damages, and patient's brain can be helped refreshing
Through remodeling, so as to recover upper extremity exercise ability.And by aided training equipment training can be made preferably to complete training mission, realize
Training effect.
For example, for cerebral apoplexy trainer, the phase trainer that collapses from physical exhaustion in convalescent home for cerebral apoplexy is usually to instruct at present
Practice teacher's manual therapeutic in person, consume substantial amounts of cost of labor, and the existing rehabilitation equipment major part of convalescent home and fitness equipment
Material is much like, repeat when trainer's use some it is simple act, it is dry as dust.
Virtual reality technology is using computer technology as core, with reference to related science technology, is generated true with certain limit
Environment is in vision, the sense of hearing, and the highly approximate digitized environment of power is felt etc., user is by necessary equipment and digitized environment
In object interact, influence each other, the impression and experience for coming to corresponding true environment personally can be produced.
In summary, how virtual reality technology is applied in training equipment, be developed into it is a have it is certain interesting,
The training system of convenient use is a urgent problem to be solved.
The content of the invention
Based on this, it is necessary to provide it is a kind of physics trainer can be freed from heavy manual labor, and with certain interest
The upper limbs cranial nerves rehabilitation training system and training method of taste.
To realize a kind of upper limbs cranial nerves rehabilitation training system of the object of the invention offer, including trainer's upper limbs can be driven
Motion and the mechanical structure with force feedback function, 3D display device, loudspeaker, and information processor, the machinery knot
Structure, 3D display device, and loudspeaker connect with the communication of described information processing unit；
Described information processing unit includes virtual reality module and human-computer interaction module；
The virtual reality module is used for the scene of virtual reality and shown by the 3D display device；
Human-computer interaction module mechanical structure according to the scenery control of the virtual reality drives trainer's upper limbs
Motion, controls the loudspeaker to send sound, and receive, analyze the feedback information of the mechanical structure；
The feedback information includes the position of mechanical structure and the stress in each free degree direction.
As a kind of embodiment of upper limbs cranial nerves rehabilitation training system, described information processing unit is computer.
As a kind of embodiment of upper limbs cranial nerves rehabilitation training system, the human-computer interaction module passes through Virtual instrument
The human-computer interaction interface of device design software design realizes man-machine interaction.
As a kind of embodiment of upper limbs cranial nerves rehabilitation training system, the virtual reality module is designed by 3D
Software for Design realizes the scene of virtual reality.
Also include depositing as a kind of embodiment of upper limbs cranial nerves rehabilitation training system, in described information processing unit
Module is stored up, for storing multiple training modes, multiple training examples, and training result.
As a kind of embodiment of upper limbs cranial nerves rehabilitation training system, the training mode includes passive exercise mould
Formula, power-assisting training pattern, and active training pattern.
It is more by fine definition as a kind of embodiment of upper limbs cranial nerves rehabilitation training system, the 3D display device
Media interface is connected with the video card of the computer.
As a kind of embodiment of upper limbs cranial nerves rehabilitation training system,
The virtual reality module also includes virtual image acquiring unit；
The virtual image acquiring unit, for setting two virtual video cameras that the contextual data of virtual reality is generated into two
Individual virtual image data, and two virtual image datas are sent to the 3D display device；
Two virtual image datas are shown to the left and right visual angle of trainer by the 3D display device by left and right pattern
Position；
The parameters of two virtual video cameras is identical, sets identical and visual angle similar to the person of being trained to visual angle.
As a kind of embodiment of upper limbs cranial nerves rehabilitation training system, the mechanical structure is rocker-type robot
Mechanical mechanism.
A kind of upper limbs cranial nerves rehabilitation training method based on same inventive concept, comprises the following steps：
Corresponding pattern drill is entered according to selected training mode, 3D display device shows the field of default virtual reality
Scape；
When it is selected be selected as passive exercise pattern when, the mechanical structure drives the upper limbs of trainer to complete the field of virtual reality
Training mission in scape；
When it is selected be selected as power-assisting training pattern when, according to the mechanical structure feed back trainer upper limbs have an effect size with
Direction, described information processing unit control the mechanical structure to provide auxiliary force for the upper limbs of trainer, help upper limbs to complete empty
Intend the training mission in the scene of reality；
When it is selected be active training mode when, during training mission in the scene that upper limbs completes the virtual reality,
Described information processing unit provides resistance by the mechanical structure according to the scene of the virtual reality to upper limbs.
As a kind of embodiment of upper limbs cranial nerves rehabilitation training method, when it is selected be selected as passive exercise pattern when,
The mechanical structure drives the upper limbs of trainer to complete the training mission in the scene of virtual reality, comprises the following steps：
The range of motion of upper limbs is detected, and is stored in the memory module；
According to the training mission in the scene of the range of motion of the upper limbs and virtual reality, described information processing unit
The mechanical structure is controlled to drive the upper limbs of trainer to carry out simple joint training in the range of the range of motion；
The size in extreme position by upper limbs reaction force fed back according to the mechanical structure, is progressively increased on described
The range of motion of limb, until the range of motion of the upper limbs reaches the level of normal person；
The mechanical structure drives the upper limbs of trainer to carry out ADL training according to the scene of virtual reality.
It is further comprising the steps of as a kind of embodiment of upper limbs cranial nerves rehabilitation training method：
Described information processing unit loudspeaker according to the scenery control of the virtual reality sends corresponding sound；
Phase in the scene for the positional information adjustment virtual reality that described information processing unit is fed back according to the mechanical structure
Answer the position of object.
Beneficial effects of the present invention include：
Upper limbs cranial nerves rehabilitation training system provided by the invention and training method, by virtual reality technology and training equipment
It is combined, the structure living scene associated with daily life, such as wipes a table, water receiving fruit, pick fruit, food market is bought vegetables.User
The project of training, printing training form and adjustment systematic parameter can be selected by interactive software；User is tied by machinery
Structure and the scene interaction in virtual reality, while the sound in virtual environment, image and power feel that information respectively by display, is raised
Sound device and mechanical device feed back to user.It makes training content rich and variedization, strengthens the interest of rehabilitation training, while by health
Refreshment, which is practiced to be an apprentice of in cumbersome manual labor, to free, and saves human cost.
Brief description of the drawings
Fig. 1 is a kind of system architecture signal of a specific embodiment of upper limbs cranial nerves rehabilitation training system of the present invention
Figure；
Fig. 2 is a kind of flow chart of a specific embodiment of upper limbs cranial nerves rehabilitation training method of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing to of the invention real
Apply the upper limbs cranial nerves rehabilitation training system of example and the embodiment of training method illustrates.It should be appreciated that this place
The specific embodiment of description only to explain the present invention, is not intended to limit the present invention.
The upper limbs cranial nerves rehabilitation training system of the embodiment of the present invention, as shown in figure 1, including trainer's upper limbs can be driven to transport
Mechanical structure 100 dynamic and with force feedback function, 3D display device 200, loudspeaker 300, and information processor 400, institute
Mechanical structure, 3D display device, and loudspeaker is stated to connect with the communication of described information processing unit.Described information processing unit 400
Include virtual reality module 410 and human-computer interaction module 420, the virtual reality module is used for the scene of virtual reality and led to
The 3D display device is crossed to be shown；The human-computer interaction module 420 is mechanical according to the scenery control of the virtual reality
Structure drives trainer's upper extremity exercise, controls the loudspeaker to send sound, and receive, analyze the feedback letter of the mechanical structure
Breath.The feedback information includes the position of mechanical structure and the stress in each free degree direction.By the position of the mechanical structure
Information is sent in virtual reality module, and the virtual reality module then adjusts the field of virtual reality according to the positional information
The position of virtual role is corresponded in scape.
The 3D display device includes 3D glasses, it is necessary to which the trainer being trained, such as patients with cerebral apoplexy, are entered using system
When row upper limbs cranial nerves rehabilitation is trained, the scene of virtual reality is seen in 3D display device by 3D glasses, and in mechanical structure
Auxiliary under according to the scene of virtual reality, the object in mobile context, or complete default task.
The upper limbs cranial nerves rehabilitation training system of the embodiment of the present invention, using virtual reality module, structure and daily life
Associated living scene, such as wipes a table, and water receiving fruit, picks fruit, food market is bought vegetables.User can be selected by interactive software
Select the project of training, printing training form and adjustment systematic parameter；User is mutual by mechanical structure and the scene in virtual reality
It is dynamic, while the sound in virtual environment, image and power feel that information feeds back to use by display, loudspeaker and mechanical device respectively
Family.It makes training content rich and variedization, strengthens the interest of rehabilitation training, and trainer can exist according to the scene of virtual reality
It is trained under default training step, rehabilitation training is an apprentice of in cumbersome manual labor and freed, saves human cost.
It is preferred that in one of the embodiments, the loudspeaker uses 5.1 channel loudspeakers, can coordinate virtual existing
Real field scape sends the stereo of simulation reality, makes rehabilitation training person on the basis of visual experience while is impacted by the sense of hearing,
Make whole virtual reality scenario truer, it is more interesting.
In one of the embodiments, described information processing unit is computer.By running corresponding journey in a computer
Sequence, realize virtual reality and show human-computer interaction interface.Computer application is extensive, and using carrying out, overall control is simple and easy to do, and
Easily realize the communication with other related devices.
In one of the embodiments, the man-machine interaction that the human-computer interaction module passes through Design of Virtual Instrument Software for Design
Realize man-machine interaction in interface.Simple, the integration module user by Design of Virtual Instrument Software for Design machine Interaction Interface Design
Just.It can be such as designed with LabVIEW softwares.Its displaying interface is simply generous, and virtual integrated device is enriched, and module placement is set
Meter easily realizes that modification is convenient.And there is good communication interface.
In one of the embodiments, the virtual reality module realizes the field of virtual reality by the design of 3D design softwares
Scape.The scene that virtual reality is realized by unity3D designs can such as be used.With good visual effect.
In one of the embodiments, memory module 430 is also included in described information processing unit 400, it is more for storing
Individual training mode, multiple training examples, and training result.Memory module stores multiple default training modes and training is shown
Example, trainer select suitable training example to be trained when being trained, according to actual conditions and personal like.And simultaneously
The result for the training that trainer is carried out is stored into memory module, to be evaluated and the situation of trainer in training
Appearance is adjusted.
In one of the embodiments, the training mode includes passive exercise pattern, power-assisting training pattern, and active
Training mode.The just trainer of experience cerebral apoplexy, much all in the state of collapsing from physical exhaustion, almost there is no paleocinetic ability, now
External force is needed to drive upper extremity exercise.Under passive exercise pattern, upper limbs is fixed on robot handle, first trainer carried out
Simple joint train, i.e., mechanical structure drive upper limbs respectively using elbow joint and shoulder joint as rotating shaft, make its simple joint stretch out and
The action of gathering.This pattern can measure the mobility in the joint of upper limbs, and the range of motion of upper limbs is recovered.
When trainer's muscular strength has certain recovery, but is not enough to overcome upper limbs self gravitation, power-assisting training pattern can be used to enter
Row training.Under power-assisting training pattern, the size and Orientation of having an effect of upper limbs is detected using force snesor in mechanical mechanism, to upper
Limb provides suitable auxiliary force, helps trainer to complete the psychomotor task in virtual environment.On trainer has been enough to overcome
During limb gravitational motion, in order to suitably increase its amount of exercise, active training pattern can be used.Active training pattern uses adaptive
Impedance control, it is ensured that suitable contact force between upper limbs and mechanical structure, while appropriate resistance is provided.Upper limbs force compared with
Weak, when interactive speed is slower, caused resistance is smaller, ensures upper limbs energy execution.When the strength increase of upper extremity exercise, motion
Speed is accelerated, then adjusts the parameter of impedance control, increase resistance, so can suitably increase the resistance of upper extremity exercise, improves
The efficiency resumed training.
In one of the embodiments, the 3D display device passes through the aobvious of HDMI and the computer
Card is connected.50 cun of 3D display device is passed through into HDMI in the embodiment of the present invention（English：High
Definition Multimedia Interface, HDMI）It is connected with the video card of computer, using its display in a computer
The 3D virtual environments of operation.HDMI is a kind of digitized video/COBBAIF technology, is to be adapted to image to pass
Defeated tailored version digital interface, it can transmit audio and video-audio signal simultaneously, and the maximum data transmission speed is 5Gbps.Simultaneously
Without transmitting advance row D/A or analog/digital conversion in signal.It can effectively ensure that the display effect of virtual reality scenario.
In one of the embodiments, audio signal is reached on 3D display device by HDMI, then is produced by 3D display device
Three-dimensional sound output, the input of 5.1 channel loudspeakers is terminated on 3D display device.By 5.1 channel loudspeakers it is main it is left, it is main it is right,
In put three audio amplifiers and woofer is placed in using before orientation, wherein the main left swing left side, on the right of main right pendulum, in put pendulum
Centre, low single pendulum are placed on ground above, or shorter shelf, and two surrounding sound speakers are placed in behind hearer, are led to
A long line is crossed with power amplifier to be connected, highly with it is main it is left, it is main right and in put it is essentially identical.Sound in virtual environment, such as highway
On automobile sound, the chirping of birds on treetop, encounter the sound that desk etc. is sent, issued by 5.1 channel loudspeakers of all directions,
Reach in trainer's ear, trainer, with reference to the 3D virtual environments seen, can make training according to the size and Orientation for the sound heard
The vivid direction for experiencing each sound source of person, distance, and the direction of motion and velocity magnitude.
In one of the embodiments, the virtual reality module 410 also includes virtual image acquiring unit 411.It is described
Virtual image acquiring unit 411, two virtual video cameras for being set by unity3D give birth to the contextual data of virtual reality
Into two virtual image datas, and two virtual image datas are sent to the 3D display device.The 3D display device is by two
The individual virtual image data is shown to the left and right view position of trainer by left and right pattern.Two virtual video cameras
Parameter is identical, setting is identical and visual angle is similar to the person of being trained to visual angle.
2 parameter identical video cameras are added in unity3D, its visual angle are arranged to similar to human eye visual angle, by two
Camera is positioned over identical height, the horizontal range and sight angle of the camera of Reasonable adjustment two, it is showed the optimal screen that goes out and imitates
Fruit.Using " the left and right pattern " of 3D display device, the image of two video camera shootings is respectively displayed on to the right and left eyes of trainer, instructed
White silk person is with regard to that can see 3D images on the spot in person, and seemingly the object in virtual environment has walked out screen, just in trainer at one's side, touch
Hand can and.Avoid simple action training excessively uninteresting.
In one of the embodiments, the mechanical structure is rocker-type robot.The machinery of the rocker-type robot
Structure is that publication No. is mechanical structure described in CN102805697A.This robotic structure is compact-sized, action spirit
Living, precision height.The rocker-type upper limb rehabilitation robot is mainly by chassis, end hand grip, rocking bar, 4 motors, DSP control panels,
6DOF power/torque sensor, pressure sensor, signal amplifier, power supply circuit etc. form.Training for upper limbs, training
The hand of person directly holds end hand grip, the translational motion of 3DOF can be carried out in space in its scope of activities and around rocking bar
Rotation.Trainer when being trained, six degree of freedom power/torque sensor can measure trainer's arm power thrusts and
The size of power in all directions.Pressure sensor can detect the grip size of trainer.These power/moment informations are controlled by DSP
A/D module in making sheet comes in and goes out into DSP.The information such as the angle that DSP moves rocking bar are sent to information processing apparatus by serial ports
Put.The wherein platform for the operation whole system that interactive software provides, the positional information of DSP transmissions is received by serial ports, to
DSP sends the command information of motor pattern, and by being communicated between Transmission Control Protocol and virtual environment.Interactive software from
DSP receives the corner information of motor, after being mathematically transformed into human arm position's information, by TCP transmission to virtual ring
Border, can be to control the arm of role in virtual environment and trainer to be synchronized with the movement.
Arm that may be in rehabilitation training with trainer to the road surface in 3D virtual environments, trees, fruit, desk etc.
The dummy object of contact carries out mechanical modeling, simulates stressing conditions when human arm is in contact with these objects.Work as training
During trainer when touching these objects, force data will be fed back accordingly by TCP communications by virtual environment program and sent out
Man-machine interaction program is delivered to, then force feedback data is sent to by DSP by serial ports by man-machine interaction program, DSP is according to force feedback
Data change the output torque of motor, and torque drives rocking bar motion, and most the contact force of hand and object feeds back to trainer's hand at last
On.Trainer is set to feel truly to have touched an object.
Illustrate how the present invention utilizes the vision in virtual reality below with the training game of " water receiving fruit ", sound and virtual
Force feedback etc. helps trainer to improve the effect trained.The scene of virtual reality is a quiet rural small institute, is had on ground
The domestic animals such as chicken, doggie, have butterfly to fly over once in a while in the air.Upper limbs holds handle, the one basket in the mobile virtual world
The apple fallen from tree is caught, trainer can be visually observed that in declining in three dimensions by 3D display device
The relative position of fruit and basket, the position of basket is adjusted accordingly.Fruit falls into the moment of basket, by being distributed in a room
5.1 channel loudspeakers send the sound of fruit collision basket, while the vibrations of a vertical direction are produced by motor driven rocking bar,
Experience trainer and hold the impact force that basket catches fruit, an incentive voice message is now played, with basket
In fruit it is more and more, rocking bar motion damping also can accordingly increase.In training process more than, pass through 3D visual informations
Judge the orientation of basket and fruit, trained the cognitive ability of trainer.When fruit falls into basket, the sense of hearing and power feel anti-
The muscle and nervous system of stimulating exercise person is presented, enhances the effect of nerve restructuring.When trainer increasingly can smoothly connect
To fruit, fruit increases in basket, and rocking bar kinetic damping increase, trainer needs bigger strength to move basket, so may be used
The intensity trained with adaptive adjusting training person, while the trainer is completed training mission, strengthen the efficiency of training.
A kind of upper limbs cranial nerves rehabilitation training method carried out using foregoing upper limbs cranial nerves rehabilitation training system, such as scheme
Shown in 2, comprise the following steps：
S100, corresponding pattern drill is entered according to selected training mode, 3D display device shows default virtual existing
Real scene；
S200, when it is selected be selected as passive exercise pattern when, it is virtual existing that the mechanical structure drives the upper limbs of trainer to complete
Training mission in real scene；
S300, when it is selected be selected as power-assisting training pattern when, had an effect according to the upper limbs of trainer that the mechanical structure is fed back
Size and direction, described information processing unit control the mechanical structure to provide auxiliary force for the upper limbs of trainer, help upper limbs
Complete the training mission in the scene of virtual reality；
S400, when it is selected be active training mode when, the training in the scene that upper limbs completes the virtual reality is appointed
During business, described information processing unit provides resistance by the mechanical structure according to the scene of the virtual reality to upper limbs.Institute
Stating between step S200~S400 does not have strict precedence relationship.
Trainer can select according to the actual conditions of itself in the upper limbs cranial nerves rehabilitation training method of the embodiment of the present invention
Appropriate training mode, system are trained according to the upper limbs of different pattern pair trainers.Trainer can be effectively improved
The efficiency that upper limbs recovers, and strengthen the initiative of trainer's training.
Wherein active training pattern uses adaptive impedance control, it is ensured that is suitably contacted between upper limbs and handle
Power, while appropriate resistance is provided.Upper limbs force is weaker, and when interactive speed is slower, caused resistance is smaller, ensures that upper limbs can be complete
Into action.When the strength of upper extremity exercise increases, movement velocity is accelerated, then adjusts the parameter of impedance control, increase resistance, so
The resistance of upper extremity exercise can suitably be increased, improve the efficiency resumed training.
In one of the embodiments, step S200, when it is selected be selected as passive exercise pattern when, mechanical structure drive training
The upper limbs of person completes the training mission in the scene of virtual reality, comprises the following steps：
S210, detects the range of motion of upper limbs, and is stored in the memory module；
S220, according to the training mission in the scene of the range of motion of the upper limbs and virtual reality, at described information
Reason device controls the mechanical structure to drive the upper limbs of trainer to carry out simple joint training in the range of the range of motion；
S230, the size in extreme position by upper limbs reaction force fed back according to the mechanical structure, is progressively increased
The range of motion of the upper limbs, until the range of motion of the upper limbs reaches the level of normal person；
S240, the mechanical structure drive the upper limbs of trainer to carry out ADL training according to the scene of virtual reality.
This pattern can measure the mobility in the joint of upper limbs, and the range of motion of upper limbs is recovered.With
Exemplified by mechanical structure is the mechanical mechanism of rocker-type upper limb rehabilitation robot.System can recall and have previously been stored in memory module first
In simple joint training track, the range of movement of this track is no more than normal human articular's movement angle.In simple joint training
During, the contact force of upper limbs and rocking bar is detected using six degree of freedom power/torque sensor of handle, at its lower end, passes through the big of this power
Small and direction judges whether upper limbs has reached the extreme position of motion, and whether trainer has paleocinetic ability.On
Limb reach open or collapse extreme angles when, now handle by the active force of upper limbs and the direction of motion of rocking bar on the contrary, and
Size reaches the threshold value set, and the angle information for now moving rocking bar, and upper limbs are stored in number to the force information of rocking bar
According in storehouse, and controlled motor exports reverse torque, starts to move round about.Value to ensure to measure can accurately transport repeatedly
It is dynamic to average several times.After the range of motion for measuring upper limbs, by later often wheel motion control within the scope of this, and
The size in the power of both ends extreme position is detected, if power diminishes, illustrates the range of motion increase of upper limbs, it is now appropriate to expand
Range of movement, it is expanded to upper limbs and threshold value is reached again to handle resistance.So it is repeated, until upper limb joint mobility reaches
To the level of normal person.After upper limb joint mobility is recovered, passive exercise pattern can be used to carry out some advanced distributed
Practise (Advanced Distributed Learning, ADL) training.By taking " virtually taking thing " as an example, virtual environment is in a warmth
It is small trainer is sitting in tea table side within doors, nearby have some conventional daily necessitiess, such as teacup, paper, mobile phone on tea table
Deng.Upper limbs is driven by mechanical structure and passively fetches these articles.
It is further comprising the steps of in the embodiment of wherein one upper limbs cranial nerves rehabilitation training method：
S500, described information processing unit loudspeaker according to the scenery control of the virtual reality are sent mutually at the sound
Sound；
S600, the positional information that described information processing unit is fed back according to the mechanical structure adjust the scene of virtual reality
The position of middle respective objects.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (9)
1. a kind of upper limbs cranial nerves rehabilitation training system, it is characterised in that including that can drive trainer's upper extremity exercise and there is power
The mechanical structure of feedback function, 3D display device, loudspeaker, and information processor, the mechanical structure, 3D display device, with
And loudspeaker connects with the communication of described information processing unit；
Described information processing unit includes virtual reality module and human-computer interaction module；
The virtual reality module is used for the scene of virtual reality and shown by the 3D display device；
Human-computer interaction module mechanical structure according to the scenery control of the virtual reality drives trainer's upper extremity exercise,
Control the loudspeaker to send sound, and receive, analyze the feedback information of the mechanical structure；
The feedback information includes the position of mechanical structure and the stress in each free degree direction；
The virtual reality module is additionally operable to carry out mechanical modeling, the mechanics mould established to the dummy object in virtual environment
The change information of fictitious force in type, and the change information of the fictitious force is fed back into the human-computer interaction module；
The human-computer interaction module is additionally operable to, and the mechanical structure operation damping is controlled according to the change information of fictitious force, to adjust
Force of the whole mechanical structure in trainer's upper limbs.
2. upper limbs cranial nerves rehabilitation training system according to claim 1, it is characterised in that described information processing unit is
Computer.
3. upper limbs cranial nerves rehabilitation training system according to claim 2, it is characterised in that the human-computer interaction module leads to
The human-computer interaction interface for crossing Design of Virtual Instrument Software for Design realizes man-machine interaction.
4. upper limbs cranial nerves rehabilitation training system according to claim 1, it is characterised in that the virtual reality module is led to
Cross the scene that virtual reality is realized in the design of 3D design softwares.
5. upper limbs cranial nerves rehabilitation training system according to claim 1, it is characterised in that in described information processing unit
Also include memory module, for storing multiple training modes, multiple training examples, and training result.
6. upper limbs cranial nerves rehabilitation training system according to claim 5, it is characterised in that the training mode includes quilt
Dynamic training mode, power-assisting training pattern, and active training pattern.
7. upper limbs cranial nerves rehabilitation training system according to claim 2, it is characterised in that the 3D display device passes through height
Definition multimedia interface is connected with the video card of the computer.
8. upper limbs cranial nerves rehabilitation training system according to claim 4, it is characterised in that
The virtual reality module also includes virtual image acquiring unit；
The virtual image acquiring unit, for setting two virtual video cameras that the contextual data of virtual reality is generated into two void
Intend image data, and send two virtual image datas to the 3D display device；
Two virtual image datas are shown to the left and right view position of trainer by the 3D display device by left and right pattern；
The parameters of two virtual video cameras is identical, sets identical and visual angle similar to the person of being trained to visual angle.
9. the upper limbs cranial nerves rehabilitation training system according to any one of claim 1 to 8, it is characterised in that the machinery
Structure is the mechanical mechanism of rocker-type robot.
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| CN201310680870.3A CN104706499B (en) | 2013-12-12 | 2013-12-12 | Upper limbs cranial nerves rehabilitation training system |
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| CN201310680870.3A CN104706499B (en) | 2013-12-12 | 2013-12-12 | Upper limbs cranial nerves rehabilitation training system |
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| CN106227356B (en) * | 2016-09-14 | 2019-03-08 | 武汉软工硕成技术有限公司 | A kind of rehabilitation system based on virtual roaming and network social intercourse |
| CN106389072A (en) * | 2016-11-28 | 2017-02-15 | 东北大学 | Virtual reality interactive system and method of five-degree-of-freedom upper limb rehabilitation robot |
| CN106779045A (en) * | 2016-11-30 | 2017-05-31 | 东南大学 | Rehabilitation training robot system and its application method based on virtual scene interaction |
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