CN104757985A - Wearable lower limb rehabilitation training and walking auxiliary system and method - Google Patents

Abstract

The invention provides a wearable lower limb rehabilitation training and walking auxiliary system and method. The system comprises a rehabilitation force application detection device, a control mainboard and an upper computer. The control mainboard comprises a signal conditioning module, a position and speed induction module, a main control chip, a Bluetooth module and a power management module. Information like detected pressure is converted into sound signals, the sound frequency and position and speed changes are analyzed and corresponding sounds are played so that a user can be reminded, and the sensory substitute function is brought into play. Another feedback approach is built, and touch and pressure sensation dysfunction caused after nerve is injured is compensated for, so that feedback loop guidance is formed, and the exercise capability is improved.

Description

Wearable lower limb rehabilitation training and walking aid system and method

Technical field

The present invention relates to nerve injury disease rehabilitation ancillary technique field, be specifically related to a kind of wearable lower limb rehabilitation training and walking aid system and method, plantar pressure signal is transformed into audio signal, improves the motor function of the nerve injury relevant diseases such as apoplexy, cerebral trauma, parkinson disease, alzheimer disease, multiple sclerosis, nervous system neoplasms, cerebral palsy, spinal cord lesion.

Background technology

Annual China apoplexy Annual occurence rate is 2,00/,100,000, and in surviving, more than 70% has dysfunction in various degree, and walking ability to reduce be wherein modal dysfunction, be also the dysfunction that patient craves for improvement simultaneously.Pedestrian can not account for 2/3 in early days, even if still have 1/3 to leave over dysbasia to convalescent period.And dysbasia will cause patient moving ability and exercise tolerance to decline, cardio-pulmonary function will decline, and amyotrophy, fracture are loosened, and then caused the appearance of Post stroke complication or increase the weight of.This all brings great impact to society, family and sufferers themselves.Feel it is the prerequisite of exercise recovery, but patients with cerebral apoplexy usually merges hemiplegia side limbs sensory disturbance, cause standing and walking time patient whether trouble foot is contacted to earth, suffers from the situation perception declines such as lower limb heavy burden, thus cause two kinds of results: 1. center of gravity offsets to strong side by patient intentionally, reduce Ipsilateral loading by lower limbs, shorten Ipsilateral lower limb supporting time, strong side lower limb burden increases, cause walking stability and leg speed to decline, this manner of walking of long-time employing will cause again the atrophy of Ipsilateral lower limb muscles, muscular strength declines, motor capacity is gone down; 2. in the accurate sensory information situation of shortage, do not reduce Ipsilateral and bear a heavy burden, then walking stability poor, easy traumatic injury, fracture etc.

In a word, the patient with nervous system disease such as apoplexy are often because of the recovery of hemiplegia side limbs sensory disturbance restriction extremity motor function, and motor function recovery difference causes suffering limb to give up use further, useless in then increasing the weight of dysfunction conversely further, thus be absorbed in vicious cycle.And sensory recovery comparatively motor function recovery difficulty and process is slow, therefore need to utilize external equipment to gather Ipsilateral loading by lower limbs information, the audition of this type of disease on homonymy is several without impact fortunately, therefore pressure signal can be converted into audio signal, the harmful effect that after making up nerve injury, acragnosis causes, accelerated motion functional rehabilitation, thus avoid in time or alleviate useless sexual disorder.

At present, the technology about sole pressure test of patent applied for there is no for nerve injury disease field.Wherein a part of technical scheme is that surveyed numerical value is shown in screen, and need user view screen all the time, this obviously can not use in walking; Separately have some illness fields that apply to fracture if the patent No. is for [200620138550.0], [03205538.2] etc., though these technology have audio prompt, but its audio conversion scheme is just emphasized to allow fracture patient increase the heavy burden of suffering limb in the scope that can bear as far as possible, its audio prompt is mainly when pressure exceedes the stressed limit, micronization pressure section cannot be accomplished, user can not perception bear a heavy burden size, the stressing conditions in vola cannot be known intuitively, the adverse effect that the touch-pressure sensation dysfunction that well can not make up vola is brought.

In addition, quite a few patients with cerebral apoplexy after occurring also can the symptom such as long-term existence triceps surae spasm, and these serious symptoms hinder the recovery of lower extremity motor function.Although patient can utilize multiple instrument or treatment project to improve these obstacles in the while in hospital, when the condition in family after patient discharge is limited, but can not be ignored these, therefore need function in conjunction with muscle spasm anticipation to realize lower limb rehabilitation.

Summary of the invention

In order to overcome the limitation of existing equipment in above-mentioned, the invention provides a kind of wearable lower limb rehabilitation training and walking aid system, the information such as institute's measuring pressure can not only be transformed into audio signal by this system in real time, play sensory substitution function, also there is muscle spasm anticipation effect, and easy to carry, cost is low, can adapt to outdoor multiple environment.

For solving the problems of the technologies described above, the present invention adopts following technical scheme:

A kind of wearable lower limb rehabilitation training and walking aid system, comprise rehabilitation force checkout gear, control mainboard and host computer, described control mainboard comprises: Signal-regulated kinase, plantar pressure signal for being obtained by described rehabilitation force checkout gear carries out sampling, filtering and analog digital conversion, obtains the plantar pressure digital information of dynamic change; Position and speed induction module, for obtaining the position and speed signal of user foot; Main control chip, for by described plantar pressure digital information through excess pressure audio signal transfer algorithm, convert corresponding sound frequency signal to; Bluetooth module, for sending to host computer by sound frequency signal and position and speed signal; Power management module, for providing power supply to Signal-regulated kinase, position and speed induction module, main control chip and bluetooth module; Described host computer, for analyzing sound frequency and position and speed change, and plays corresponding sound to remind user.

Further, described rehabilitation force checkout gear comprises pressure transducer, and be placed in user sole when rehabilitation force checkout gear uses, described pressure transducer is connected to described Signal-regulated kinase by interface.

Further, described pressure transducer respectively with first sole of the foot, first and two head of metatarsal bone mid point, fourth metatarsal bone head, outside arch of foot and heel is corresponding arranges.

Preferably, described rehabilitation force checkout gear is that special purpose shoes or Special shoe pad are assisted in rehabilitation training and walking.

The present invention also provides a kind of lower limb rehabilitation training and walking householder method, comprises the steps:

(1) pressure that each pressure transducer in rehabilitation force detection device records vola is each and time data;

(2) plantar pressure signal that the checkout gear that rehabilitation exerted a force obtains sends Signal-regulated kinase to, and Signal-regulated kinase is sampled to this plantar pressure signal, filtering and analog digital conversion, obtains the plantar pressure digital information of dynamic change;

(3) position and speed induction module obtains the position and speed signal of user foot, and this position and speed signal is sent to host computer by bluetooth module;

(4) main control chip is by described plantar pressure digital information through excess pressure audio signal transfer algorithm, converts corresponding sound frequency signal to, and this sound frequency signal and position and speed signal are sent to host computer by bluetooth module;

(5) host computer analyzes sound frequency and position and speed change, utilize pressure audio conversion method, bionics principle is used to imitate the physiological process of touch-pressure sensation, to set up between foot bottom stress and audible signal man-to-man contacts, and play corresponding sound to remind user, realize sensory substitution function.

Further, in step (5), also comprise muscle spasm pre-judging method, by analyzing the data variation of each pressure transducer, just can point out before Calf muscle spasm not yet occurs and be about to occur muscular spasm, described pressure transducer comprises forefoot region sensor and metapedes zone sensors, and described muscle spasm anticipation concrete grammar is as follows:

Setting spasm trigger value E _s: there is the forefoot region sensor pressure values S that the front N step of stiff sense is corresponding in record user sensation suffering limb _q1, S _q2, S _qnwith metapedes zone sensors force value S _h1, S _h2s _hn, wherein n>=3; Calculate forefoot region momentum accounting E _sas spasm trigger value, formula is as follows:

$E_S=\frac{S_{q1}+S_{q2}+\·\·\·+S_{\mathrm{qn}}}{(S_{q1}+S_{q2}+\·\·\·+S_{\mathrm{qn}})+(S_{h1}+S_{h2}+\·\·\·S_{\mathrm{hn}})}---\left(1\right)$

Carry out spasm anticipation: during actual use, the last forefoot region sensor of N step of record user and the force value of metapedes zone sensors, the force value of forefoot region sensor and metapedes zone sensors is substituted in formula (1), calculates actual forefoot region momentum accounting E, as E>=K*E _stime, play corresponding sound to remind user, work as E<K*E _stime, then continue to play sensory substitution function, wherein COEFFICIENT K is spasm anticipation sensitivity.

Described forefoot region sensor respectively with first sole of the foot, first and two head of metatarsal bone mid point, fourth metatarsal bone head and outside arch of foot is corresponding arranges, described metapedes zone sensors is corresponding with heel to be arranged.

Preferably, described COEFFICIENT K gets 80%.

Further, described in step (5), pressure audio conversion method is specially:

Setting pressure A at zero point, Lower Range B, safety value C and upper pressure limit value D have four nodes altogether, and plantar pressure value is divided into four gears by these four nodes, when force value is positioned at A-B section, plays without any sound; When force value is positioned at C-D section, plays the audio frequency that tone is higher, point out close to upper pressure limit value; When force value is more than D, play the audio frequency that tone is sharp-pointed; When force value is positioned at B-C section, be equipped with the audio frequency of multiple tone, user can according to tone different perception heavy burden size.

From above technical scheme, the present invention has following beneficial effect:

(1) another kind of feedback approach is set up, make up touch-pressure sensation dysfunction after nerve injury, thus formation feedback control loop instructs and improves the ability of motion, simultaneously by the heavy burden situation of auditory tone cues patient Ipsilateral, thus induction patient reasonably distributes suffering limb heavy burden, in order to assessment, analyze limb function level, react the training burden of every day, be of value to rehabilitation training;

(2) can judge comparatively accurately to stand, the muscular tension situation of lower limb triceps surae in the activity such as walking, give treatment advice in time, go back the entertainment selection training etc. such as easily extensible walking rhythm and pace of moving things sense training, game.

Accompanying drawing explanation

Fig. 1 is systematic schematic diagram of the present invention;

Fig. 2 is the schematic diagram of layouting of plantar pressure sensor in the present invention;

Fig. 3 is plantar pressure gear division figure in the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing, a kind of preferred implementation of the present invention is described in detail.

As shown in Figure 1, described wearable lower limb rehabilitation training and walking aid system comprise rehabilitation force checkout gear 100, control mainboard 200 and host computer 300 three parts.

Described rehabilitation force checkout gear 100 is placed in user sole when using, rehabilitation training and walking specifically can be adopted to assist special purpose shoes or Special shoe pad, wherein be provided with pressure transducer, special purpose shoes or shoe pad inside are according to foot pressure, reasonable algorithm is adopted to carry out arranged evenly to pressure transducer, can effectively measure plantar nervous arch situation, be connected to through interface the signal condition part controlling mainboard after pressure signal collection and carry out Treatment Analysis.With reference to Fig. 2, described pressure transducer respectively with first sole of the foot, first and two head of metatarsal bone mid point, fourth metatarsal bone head, outside arch of foot and heel is corresponding distributes, wherein with first sole of the foot, first and two head of metatarsal bone mid points, fourth metatarsal bone head and the corresponding sensor arranged of outside arch of foot form forefoot region sensor, it is corresponding with heel that what arrange is forefoot region sensor.The plantar nervous arch figure that also can refer to carrying out plantar nervous arch detection that has ready conditions customizes.

As shown in Figure 1, described control mainboard 200 comprises Signal-regulated kinase 210, position and speed induction module 220, bluetooth module 230, main control chip 240 and power management module 250, and wherein Signal-regulated kinase, position and speed induction module, bluetooth module are connected with main control chip respectively.

Described Signal-regulated kinase 210, the plantar pressure signal for being obtained by described rehabilitation force checkout gear carries out sampling, filtering and analog digital conversion, obtains the plantar pressure digital information of dynamic change; Described position and speed induction module 220, for obtaining the position and speed signal of user foot; Described main control chip 240, for by described plantar pressure digital information through excess pressure audio signal transfer algorithm, convert corresponding sound frequency signal to; Described bluetooth module 230, for sending to host computer by sound frequency signal and position and speed signal; Described power management module 250 mainly provides the power supply of main control chip and other modules attached thereof; Described host computer, for analyzing sound frequency and position and speed change, and plays corresponding sound to remind user.

The present invention is except when pressure is above given with outside warning in limited time close to stressed, emphasis is the refinement normally conversion of pressure-audio frequency within the scope of heavy burden, reflect that pressure changes by the recognizable trickle audio frequency change of people's ear, reach and utilize the audition of homonymy to make up impaired touch-pressure sensation function, make patient can be known the stressing conditions in vola intuitively by the slight change of sound, premorbid sense of touch-brain centres-motor path is transformed into audition-brain centres-motor path, thus the adverse effect that the touch-pressure sensation dysfunction making up vola is brought.Lower limb rehabilitation training of the present invention and walking householder method, specifically comprise the steps:

(1) pressure that each pressure transducer in rehabilitation force detection device records vola is each and time data;

(2) plantar pressure signal that the checkout gear that rehabilitation exerted a force obtains sends Signal-regulated kinase to, Signal-regulated kinase is sampled to this plantar pressure signal, filtering and analog digital conversion, obtain the plantar pressure digital information of dynamic change, wherein plantar pressure is vola each pressure transducer pressure sum;

(3) position and speed induction module obtains the position and speed signal of user foot, and this position and speed signal is sent to host computer by bluetooth module;

(4) main control chip is by described plantar pressure digital information through excess pressure audio signal transfer algorithm, converts corresponding sound frequency signal to, and this sound frequency signal and position and speed signal are sent to host computer by bluetooth module;

(5) host computer analyzes sound frequency and position and speed change, utilize pressure audio conversion method, bionics principle is used to imitate the physiological process of touch-pressure sensation, to set up between foot bottom stress and audible signal man-to-man contacts, and play corresponding sound to remind user, realize sensory substitution function;

Described pressure audio conversion method is specially:

Setting pressure A at zero point, Lower Range B, safety value C and upper pressure limit value D have four nodes altogether, and plantar pressure value is divided into four gears by these four nodes, when force value is positioned at A-B section, plays without any sound; When force value is positioned at C-D section, plays the audio frequency that tone is higher, point out close to upper pressure limit value; When force value is more than D, play the audio frequency that tone is sharp-pointed; When force value is positioned at B-C section, be equipped with the audio frequency of multiple tone, according to user, user according to tone different perception heavy burden size, can distinguish that the ability of audio frequency arranges multiple tone voluntarily.

Step also comprises muscle spasm pre-judging method in (5), simultaneously by analyzing the data variation of each pressure transducer, just can point out and being about to occur muscular spasm before Calf muscle spasm not yet occurs.

The principle of muscle spasm anticipation: the patient of central nervous system injury is in the active procedures such as walking, Ipsilateral triceps surae tension force can progressively increase, namely the gastrocnemius at shank rear and musculus soleus hypertonicity cause the excessive plantar flexion of ankle joint, the counteracting force causing the forefoot region when activities such as walkings to be subject to ground can progressively increase, the momentum of forefoot region accounts for the proportion increase of the momentum in whole vola, as 1 in Fig. 2, 2, 3, the proportion of the suffered momentum of No. 4 pressure transducers increases, the proportion of No. 5 pressure receptors reduces, consider that momentum is subject to body weight, the impacts such as leg speed, there is individual variation, therefore the ratio utilizing forefoot region momentum to account for sweay carry out spasm judge comparatively accurate.In equipment, each pressure receptor is synchronized sampling pressure signal, thus the sampling time and number of times identical, therefore the ratio of momentum can be reduced to the ratio of the summation of pressure transducer force value.

Concrete grammar is as follows:

First set spasm trigger value E _s: there is the forefoot region sensor pressure values S that the front N step of stiff sense is corresponding in record user sensation suffering limb _q1, S _q2, S _qnwith metapedes zone sensors force value S _h1, S _h2s _hn, wherein n>=3; Calculate forefoot region momentum accounting E _sas spasm trigger value, formula is as follows:

$E_S=\frac{S_{q1}+S_{q2}+\&CenterDot;\&CenterDot;\&CenterDot;+S_{\mathrm{qn}}}{(S_{q1}+S_{q2}+\&CenterDot;\&CenterDot;\&CenterDot;+S_{\mathrm{qn}})+(S_{h1}+S_{h2}+\&CenterDot;\&CenterDot;\&CenterDot;S_{\mathrm{hn}})}---\left(1\right)$

Then spasm anticipation is carried out: during actual use, the last forefoot region sensor of N step of record user and the force value of metapedes zone sensors, the force value of forefoot region sensor and metapedes zone sensors is substituted in formula (1), calculates actual forefoot region momentum accounting E, as E>=K*E _stime, play corresponding sound to remind user, work as E<K*E _stime, then continue to play sensory substitution function, wherein COEFFICIENT K is spasm anticipation sensitivity, and K is preferably 80%, and COEFFICIENT K and n all can adjust according to user personal considerations.

Whether described forefoot region sensor can according to user with situations such as strephenopodias, and replaced by one or several in 1-4 sensor, when such as strephenopodia is obvious, forefoot region sensor only selects No. 3 to be ideal numerical procedure.

Because the speed of device radiates information is faster than normal nerve conduction approach, the present invention can also suitably arrange time delay and sound attenuating, decay is the suitability feature that imitation touch-pressure sensation has, both objects are all simulation normal physiological processes, reach and control accurately, and guiding treatment training can be done to institute's measurement information preservation, contrast, uploading data storehouse.

The above embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.

Claims (9)

1. a wearable lower limb rehabilitation training and walking aid system, comprise rehabilitation force checkout gear, control mainboard and host computer, it is characterized in that, described control mainboard comprises: Signal-regulated kinase, plantar pressure signal for being obtained by described rehabilitation force checkout gear carries out sampling, filtering and analog digital conversion, obtains the plantar pressure digital information of dynamic change; Position and speed induction module, for obtaining the position and speed signal of user foot; Main control chip, for by described plantar pressure digital information through excess pressure audio signal transfer algorithm, convert corresponding sound frequency signal to; Bluetooth module, for sending to host computer by sound frequency signal and position and speed signal; Power management module, for providing power supply to Signal-regulated kinase, position and speed induction module, main control chip and bluetooth module; Described host computer, for analyzing sound frequency and position and speed change, and plays corresponding sound to remind user.

2. wearable lower limb rehabilitation training according to claim 1 and walking aid system, it is characterized in that, described rehabilitation force checkout gear comprises pressure transducer, rehabilitation force checkout gear is placed in user sole when using, and described pressure transducer is connected to described Signal-regulated kinase by interface.

3. wearable lower limb rehabilitation training according to claim 2 and walking aid system, is characterized in that, described pressure transducer respectively with first sole of the foot, first and two head of metatarsal bone mid point, fourth metatarsal bone head, outside arch of foot and heel is corresponding arranges.

4. wearable lower limb rehabilitation training according to claim 1 and walking aid system, is characterized in that, described rehabilitation force checkout gear is that special purpose shoes or Special shoe pad are assisted in rehabilitation training and walking.

5. lower limb rehabilitation training and a walking householder method, is characterized in that, comprise the steps:

(1) pressure that rehabilitation force detection device records vola each pressure transducer is each and to time data;

(2) plantar pressure signal that the checkout gear that rehabilitation exerted a force obtains sends Signal-regulated kinase to, and Signal-regulated kinase is sampled to this plantar pressure signal, filtering and analog digital conversion, obtains the plantar pressure digital information of dynamic change;

(3) position and speed induction module obtains the position and speed signal of user foot, and this position and speed signal is sent to host computer by bluetooth module;

(4) main control chip is by described plantar pressure digital information through excess pressure audio signal transfer algorithm, converts corresponding sound frequency signal to, and this sound frequency signal and position and speed signal are sent to host computer by bluetooth module;

(5) host computer analyzes sound frequency and position and speed change, utilize pressure audio conversion method, bionics principle is used to imitate the physiological process of touch-pressure sensation, to set up between foot bottom stress and audible signal man-to-man contacts, and play corresponding sound to remind user, realize sensory substitution function.

6. lower limb rehabilitation training according to claim 5 and walking householder method, it is characterized in that, in step (5), also comprise muscle spasm pre-judging method, by analyzing the data variation of each pressure transducer, just can point out before Calf muscle spasm not yet occurs and be about to occur muscular spasm, described pressure transducer comprises forefoot region sensor and metapedes zone sensors, and described muscle spasm anticipation concrete grammar is as follows:

Setting spasm trigger value E _s: there is the forefoot region sensor pressure values S that the front N step of stiff sense is corresponding in record user sensation suffering limb _q1, S _q2, S _qnwith metapedes zone sensors force value S _h1, S _h2s _hn, wherein n>=3; Calculate forefoot region momentum accounting E _sas spasm trigger value, formula is as follows:

$E_S=\frac{S_{q1}+S_{q2}+...+S_{\mathrm{qn}}}{(S_{q1}+S_{q2}+...+S_{\mathrm{qn}})+(S_{h1}+S_{h2}+...S_{\mathrm{hn}})}---\left(1\right)$

Carry out spasm anticipation: during actual use, the last forefoot region sensor of N step of record user and the force value of metapedes zone sensors, the force value of forefoot region sensor and metapedes zone sensors is substituted in formula (1), calculates actual forefoot region momentum accounting E, as E>=K*E _stime, play corresponding sound to remind user, work as E<K*E _stime, then continue to play sensory substitution function, wherein COEFFICIENT K is spasm anticipation sensitivity.

7. lower limb rehabilitation training according to claim 6 and walking householder method, it is characterized in that, described forefoot region sensor respectively with first sole of the foot, first and two head of metatarsal bone mid point, fourth metatarsal bone head and outside arch of foot is corresponding arranges, described metapedes zone sensors is corresponding with heel to be arranged.

8. lower limb rehabilitation training according to claim 6 and walking householder method, is characterized in that, described COEFFICIENT K gets 80%.

9. lower limb rehabilitation training according to claim 6 and walking householder method, is characterized in that, in step (5), described pressure audio conversion method is specially:

Setting pressure A at zero point, Lower Range B, safety value C and upper pressure limit value D have four nodes altogether, and plantar pressure value is divided into four gears by these four nodes, when force value is positioned at A-B section, plays without any sound; When force value is positioned at C-D section, plays the audio frequency that tone is higher, point out close to upper pressure limit value; When force value is more than D, play the audio frequency that tone is sharp-pointed; When force value is positioned at B-C section, be equipped with the audio frequency of multiple tone, user can according to tone different perception heavy burden size.