CN105451829A - Personal digital trainer for physiotheraputic and rehabilitative video games - Google Patents
Personal digital trainer for physiotheraputic and rehabilitative video games Download PDFInfo
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- CN105451829A CN105451829A CN201480044534.2A CN201480044534A CN105451829A CN 105451829 A CN105451829 A CN 105451829A CN 201480044534 A CN201480044534 A CN 201480044534A CN 105451829 A CN105451829 A CN 105451829A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
Abstract
A kinetic rehabilitation system comprising: a kinetic sensor comprising a motion-sensing camera; and a computing device comprising: (a) a non-transient memory comprising a stored set of values of rehabilitative gestures each defined by a time series of spatial relations between a plurality of theoretical body joints, and wherein each time series comprises: initial spatial relations, mid-gesture spatial relations and final spatial relations, and (b) a hardware processor configured to: (i) continuously receive a recorded time series of frames from said motion-sensing camera, wherein each frame comprises a three-dimensional position of each of a plurality of body joints of a patient, (ii) compare, in real time, at least a portion of the recorded time series of frames with the time series of spatial relations, to detect a rehabilitative gesture performed by said patient, (iii) detect a discrepancy between the rehabilitative gesture performed by said patient and a corresponding one of said stored set of values of rehabilitative gestures, and provide an indication to said patient.
Description
Technical field
The present invention relates to a kind of individual digital training device of the image game for physical therapy and rehabilitation.
Background technology
The injury associated of the holistic health that the decline of physiological function is usually relevant with the age, or the result of injury or disease.Such decline also can cause the decline of confidence, social interaction and community participation.Physically disabled's usually experience restriction in control motor, mobile intensity and scope.These defects seriously can limit the ability that they perform routine work, such as, wear the clothes independently, comb one's hair and have a bath.In addition, these defects and pain can reduce the participation of community and stress-relieving activity, even can affect work negatively.
Participate in and be part necessary in rehabilitation process in accordance with the physical treatment generally including repetition training, its target is to assist physically disabled to overcome the restriction of their experience.But, be the training that most of physically disabled does not complete suggestion in the question in dispute always.People usually represent that it is amotivational for hindering them normally to train.In addition, at a treatments period, the quantity of training is usually inadequate.During rehabilitation, therapist usually can in person provide health to assist and whether the action supervising each student reaches a specific criteria.Therefore, therapist once can only rehabilitation patient, or a small set of people at most.Patient usually lacks enthusiasm and goes to participate in dull rehabilitation process, causes the muscular atrophy that continues and lacks muscular endurance.
And, as everyone knows, adult and especially child can be fed up with for repeating identical action, this must train specific muscle to be problematic for adult or child during post-traumatic rehabilitation, for example, after someone fractures his or her arm, need typical special training, it is very difficult for allowing these repeated works become interesting.Existingly during rehabilitation, assist the method for people to comprise utilize game to encourage people, particularly child to do more and train.
Therefore, utilizing skill to make, the body building of repetition is more interesting patient is in to perform the physical treatment of rehabilitation be favourable, use image game technology to start to be explored and be used as commercial available instrument, transmit training and rehabilitation program by this in this property of patient.
The U.S. Patent number 6 of the people such as Basson, 712,692 disclose a kind of method of collecting about a people (it can be adult or child) action message, described information is videoed one or more game console instruction, game console instruction is coupled to an image game, and this game is being responded described game console instruction during normal operating.
The U.S. Patent number 7,996,793 of the people such as Latta discloses the system of gesture recognizer system architecture, method and computer fetch medium.Identifier engine is provided, it receives user action data and provides described data to several wave filters, a wave filter corresponds to a posture, it can be received the application program adjustment of the information coming from gesture recognizers, make the special parameter of described posture, the acceleration of such as throwing gesture can be set on each application-level, or in single application program repeatedly.The credibility that corresponding posture can occur by each wave filter and more details about user activity data export its application program of a use to.
The U.S. Patent Publication No. 2012/0190505A1 of the people such as Shavit discloses a kind of system monitoring the performance of daily body building, and it comprises one allows user perform the pilates trainer of daily body building; Several perform activity and the position sensor of the position of daily body building and the sensitive information of activity for generation of at least comprising user; One comprises the database representing at least one daily body building the best and perform; The sensitive information be separated described in the outward appearance of at least described pilates trainer that one training module is configured to be separated from sensitive information, comparison and daily information are with the difference of the sensitive information and described daily information of detecting described separation, wherein said difference represents that the mistake of described daily body building performs, and described training module is further configured to and the correct execution of daily for user body building is fed back to described user; And one display for showing described feedback.
The people such as Smith (2012) disclose main image game plateform system (Nintendo Wii
tM, Sony
and Microsoft
) overview, and some is discussed for the situation of the rehabilitation of the Functional Capability of older, assessment and training.Specifically, the two problems having a strong impact on older's functional independence be stem from apoplexy and fall injured and disabled.Refer to S.T.Smith, D.Schoene, the use of the training of older's body function and the image game based on image of rehabilitation, AgingHealth, 2012; 8 (3): 243-252.
The people such as Ganesean (2012) disclose a plan, its object is to find out maintain daily body building and doctor advises in the custom being but difficult to maintain, the factor of playing an important role excitation older.Initial data collection comprises with aging and physical treatment expert and has older and train and the access of panel of technical theme.Based on these data, in early days for assisting the Microsoft Kinect prototype game of encouraging older's training to realize, described Kinect application program is proved to be is well worth doing through the test of basic availability, next step comprise older game test, game carried out to iteration development to increase motivation feature and the successfully encouragement older that play maintains the assessment training the way to keep in good health.Refer to S.Ganesan, L.Anthony, use Kinect to encourage older to carry out: prototype, ExtendedAbstractsoftheACMConferenceonHumanFactorsinCompu tingSystems (CHI ' 2012), Austin, TX, 5May2012, p.2297-2302.
The people such as Lange (2011) disclose the use of business image game as rehabilitation instrument, and such as Nintendo WiiFit appeals in physical treatment field recently.Activity trace controller, such as Nintendo Wiimote can not be enough to the performance accurately sensing all balanced components.In addition, user can find out how to carry out " deception " coarse tracker (such as brandishing with wrist rotation Wiimote instead of with complete arm) through the minimum activity of execution.Health rehabilitation needs the existing accurate and suitable tracking of his-and-hers watches and feedback.For this purpose, the application program utilizing business image game technology progressive recently to provide the whole body of animated virtual role to control is developed, the key factor of described method is up-to-date available low cost degree of depth sensing camcorder technology, it provides unmarked whole body trace on a personal computer, and the target of research is that the rehabilitation instrument based on image of development and evaluation iteration carrys out the training of the adult of equilibrium nerve damage.Refer to B.Lange, C.Y.Chang, E.Suma, B.Newman, A.S.Rizzo, M.Bolas, use development and the assessment of the balance rehabilitation instrument of low cost based on image of Microsoft's Kinect sensor, 33rdAnnualInternationalConferenceoftheIEEEEMBS, 2011.
Be different from " generally " game, the accuracy of gesture and posture for the patient using image game in order to physical treatment and rehabilitation object, and is very important for performing the correct way of training.
Shen (2012) discloses a kind of natural user interface to control " the vision molecular dynamics " of visualization tool-use Microsoft Kinect, and it introduces the background context of human-computer interaction, image procossing, pattern-recognition and calculator vision.Primal algorithm designs for the finger number calculating hand shape, and it depends on binaryzation and the morphology binary conversion treatment of degree of depth image.Bayes classifier takes into account enforcement set by gesture identification task.Refer to ChenShen, use the vision molecular dynamics that Microsoft Kinect controls, Edinburgh University, 2012.
The problem that the human gesture that Lopez (2012) discusses end user's class behavior analytical technology identifies.Specifically, the method for proposition is applied in health care and social application by he.In these environment, gesture is normally carried out in a natural manner, between the mankind's posture belonging to them, produce variability.This fact makes human gesture identify becomes a very challenging task, and the vague generalization of the development of human behavior analysis.In order to solve the complete frame that human gesture identifies, he by process splitting three main targets: the gathering calculating mankind's posture that multi-mode feature space, the probabilistic model of gesture and sub-gesture represent.Different challenge is impliedly comprised, its interrelated and face three methods: vision and the degree of depth, dynamic time warping based on probability and sub-gesture represent in each target.Each method has been described in detail.He demonstrates presented method at different data set that is public and design, shows high-performance and uses our method for the feasibility of real human's behavioural analysis system and application.Finally, he summarizes at present different in development related application, and the conclusion of research and future trend.Refer to VictorPonceLopez, the multi-mode human gesture in conjunction with dynamic routine and probabilistic method identifies, MasterofScienceThesis, Barcelona, 2012.
As mentioned above, because physical treatment and rehabilitation image game have promote the specific purpose of patient, thus by providing the patient feeding back to training execution error, the dysfunction providing the suggestion etc. of correct operation to come in monitor procedure also has a great impact.
The object of above-mentioned correlation technique and relative restriction is exemplary instead of unique, and those skilled in the art will be appreciated that other restrictions of correlation technique after reading description and research diagram.
Summary of the invention
The following example and each side thereof are coupling systems, tool and method describes and illustrates, it means exemplary and illustrative but not limited field.
According to an embodiment, a kind of motion rehabilitation system is provided, comprises: a motion sensor, comprise an action induction video camera; And a computer installation, comprise: (a) non-momentary internal memory, comprise one group of rehabilitation posture storing value, each storing value defines the spatial relationship of sequence in time between several theoretical body joints, and wherein each time series comprises: initial space relation, middle pose space relation and final spatial relationship; And (b) one hardware processor be configured to: (i) receives continuously the picture frame coming from the sequence in time that described action induction video camera records, wherein each picture frame comprises the three-dimensional position of each of several body joints of patient, (ii) in real time the picture frame of recorded sequence is in time compared with the spatial relationship of sequence in time, to detect the rehabilitation posture that patient performs, (iii) detect the difference of one that the rehabilitation posture of described patient execution is corresponding with this group rehabilitation posture storing value, and provide one to be indicated to described patient.
According to an embodiment, provide a kind of method providing feedback in motion rehabilitation system further, described method comprises: provide a motion sensor, and it comprises an action induction video camera; One computer installation is provided, it comprises: (a) non-momentary internal memory, comprise one group of rehabilitation posture storing value, each storing value defines the spatial relationship of sequence in time between several theoretical body joints, and wherein each time series comprises: initial space relation, middle pose space relation and final spatial relationship; And (b) hardware processor; And use described hardware processor with: (i) receives continuously the picture frame coming from the sequence in time that described action induction video camera records, wherein each picture frame comprises the three-dimensional position of each of several body joints of patient, (ii) in real time the picture frame of recorded sequence is in time compared with the spatial relationship of sequence in time, to detect the rehabilitation posture that patient performs, (iii) detect the difference of one that the rehabilitation posture of described patient execution is corresponding with this group rehabilitation posture storing value, and provide one to be indicated to described patient.
In certain embodiments, described hardware processor is configured to make described treatment plan be adapted to the performance of described patient further.
In certain embodiments, described difference comprise described patient do not show any trial perform repeatedly continuous print training.
In certain embodiments, described difference comprises described patient and not to demonstrate repeatedly the rear pendulum control of continuous print training.
In certain embodiments, described difference comprises the compensating motion that described patient performs repeatedly continuous print training.
In certain embodiments, described instruction comprises the illustrated feedback of individual training of display vision over the display.
In certain embodiments, described instruction comprises the feedback of the display text message by the expression of described individual training diagram over the display.
In certain embodiments, described instruction comprises the feedback of the acoustic information of being expressed by described individual training diagram.
In certain embodiments, described individual training diagram is configured to provide the explanation of described difference to described patient.
In certain embodiments, described individual training diagram is configured to provide the suggestion of correct execution training to described patient.
Except above-described exemplary embodiment, many-sided and embodiment along with following detailed description research and will illustrate clearly.
Accompanying drawing explanation
Fig. 1 display is according to the system block diagram for recovery treating of some embodiments;
Fig. 2 display according to the information of summary one given patient of some embodiments to the example of the dedicated web site page of therapist;
Fig. 3 display is according to the example being set up the treatment plan of a given patient by therapist's use of some embodiments;
Fig. 4 display is according to the explanation of the structurized smooth method for depth recognition of some embodiments;
Fig. 5 display is according to the X-Y scheme of the top view of the triangulation calculation for determining pixel depth of some embodiments;
Fig. 6 display is according to the human body critical piece of some embodiments and the explanation in joint;
Fig. 7 display is according to the example of the image game rank screenshot capture of some embodiments;
Fig. 8 display is according to another example of the image game rank screenshot capture of some embodiments;
Fig. 9 display is according to the explanation of the right bow step training supervision of some embodiments;
Figure 10 display is according to the example of the right pendulum training supervision of some embodiments;
Figure 11 display is jumped according to the both feet of some embodiments and is trained the example of monitoring;
Figure 12 display is according to the example of the left leg jumping monitoring of some embodiments;
Figure 13 display is according to the block diagram of the gesture detection method of some embodiments;
Figure 14 display is according to the block diagram of individual training equipment in the system of some embodiments; And
Figure 15 display is according to the flow chart of the feedback processing of some embodiments.
Detailed description of the invention
The system and method that a kind of difference in motion rehabilitation system is detected and alarm shows is disclosed in this.
Usually, need the people of recovery treating, the child etc. such as suffering physical impairment and need the victim of the accident of physical treatment process, suffer from the elderly of degenerative disease, suffer from the cerebral palsy of health restriction, to a rehabilitation center, run into one indicates treatment plan therapist to them, and perform described plan in rehabilitation center and/or family.In many cases, described treatment plan comprises the body building repeatedly performed that tool is with or without therapist's supervision.Described plan is carried out usually in repeatedly dating, and in each appointment, therapist can monitor the progress of patient and improve the difficulty of training.This traditional method has several shortcoming: a part of at least planning needs patient to arrive rehabilitation center, may be lose time and very difficult (such as the elderly, child etc.) for some people, and often relate to repetition and uninteresting activity, may cause amotivational and abandon plans, and may the patient of the quite a small amount of number of limit treatment's teacher process.
Therefore, allow to perform treatment plan in the family of patient with the form of image game, between therapist and patient, easy communication plan instruction and progress monitoring, be favourable for therapist and patient.In addition, in conjunction with above-mentioned advantage, provide patient specific image game simultaneously, instead of general video-game, also there is very large meaning.
However, in order to use image game to reach high efficiency treatment, training need attention action accuracy, the term of execution etc. execution.At present, many image games of the general interaction of activity recognition device that utilizes do not consider such parameter, mainly because general interactive image game does not need such accuracy.
In addition, in rehabilitation process, the patient feeding back to training execution error that patient provides can not be injured in order to reach the object of rehabilitation and provide the suggestion of correct operation to be very important.Therefore, feedback and suggestion is provided also to be advantageous to patient.
Vocabulary
Image game: the one game played by player, the primary interface wherein for player is the vision content using such as screen display.Image game can be performed by such as personal computer (PC) or special gaming platform, and it can be connected to the Output Display Unit of such as video screen, and the input control device of such as hand held controller, motion recognition device etc.
The rank of image game: the restricted part in image game, has the beginning and end that are defined.Usually, image game comprises multiple rank, and each rank can relate to a more highly difficult rank, needs the more effort of player.
Image game controller: player use the hardware components carrying out interactive user interface (UI) with personal computer or gaming platform.
Motion sensor: a kind of user of permission is by identifying that the body kinematics of user carries out interactive image game controller with personal computer or gaming platform.Such as comprising by the hand-held sensor of the health movement of user is the video camera etc. of device at sensor with it, detecting user movement.
Motion recognition device: a kind of motion sensor, is a kind of electronic equipment for remote sense player motion, and converts thereof into and can be input to game console and the signal used by image game, reacts by this, form interactive game to player's motion.
Motion identifies games system: the system comprising personal computer or game console and motion recognition device.
Image game is interactive: user indicates him or she to wish the thing wishing in gaming to do to image game, and such as, the interaction of mouse interactions, controller, touching interaction, closely video camera is interactive or long interactive apart from video camera.
Posture: the body kinematics of one or more body part of player, can the identification of passive movement recognition device.
Training: in order to the body movement of the particular type that specific rehabilitation object is done.Training can be made up of one or more posture.Such as, be called that the training of " bow step " refers to that one leg moves forward suddenly, can be used for strengthening musculus quadriceps, be called that the training of " spike " can be used for improving stability etc.
Repeat (namely " example "): the performance of specific training.For example, when the spike training of repetition comprises beginning, one leg is lifted skyborne posture, leg is lifted the one specific period aloft, and leg is put back to the posture on ground.
Intermission: a period of time between two continuous repetitive operations, during this section, player can have a rest.
The example of a suitable motion recognition device is the Kinect of Microsoft, and it is the action induction video camera of the personal computer for Xbox360 image game console and Windows.Based on Xbox360 image game console around the additional peripheral device of web camera, user can be allowed to pass through dynamic UI control Xbox360 for Kincet and and it is interactive, by the natural user interface of use body gesture without the need to touching game console.
Native system and method are also applicable to other game console, the PlayStation of such as Sony, Nintendo Wii etc., and motion recognition device can be the standard set-up of these or other game console.
Unless stated otherwise, in description the word such as " process ", " calculating ", " determination " etc. that use be discussed refer to action and/or the process of electronic computer system or similar Electronic Accounting Machine Unit, electronic computer system or similar Electronic Accounting Machine Unit operate and/or by be converted to electronic computer system in the buffer of electronic computer system and/or internal memory with the data of physical representation such as electronics, amount internal memory, buffer etc. among other data represented with physical quantity.
For example, the material that section Example can use computer-readable medium maybe can store instruction or one group of instruction realizes, if performed (such as by computer, by hardware processor and/or other suitable machines), computer can be made to perform method and/or the operation of the embodiment of the present invention.Such as, such computer can comprise any suitable processing platform, computing platform, computer installation, treating apparatus, computing system, treatment system, computer, processor, game console etc., and any suitable hardware and/or combination of software can be used to realize.The disk that computer-readable medium or material such as can comprise any type comprises floppy disk, CD, magneto-optic disk, read-only storage (ROM), random access memory (RAM), flash memory, EPROM (EPROM), Electrically Erasable Read Only Memory (EEPROM), magnetic or optical card, or any other type is applicable to the media of store electrons instruction, and computer system bus can be connected to.
Instruction can comprise the code of any type, such as, code, interpretive code, executable code, static code, dynamic code or similar after source code, compiling, and can use any suitable high-order, low order, object-oriented, visual, compiling and/or explanation type programming language, such as C, C++, C#, Java, BASIC, Pascal, Fortran, Cobol, assembler language, machine code etc.
Native system and method can be understood better along with reference diagram is shown with.Consult Fig. 1, its display is used for the system block diagram of recovery treating.Therapist 102 can sign in dedicated web site 104, links up with patient 100, indicates treatment plan (being also referred to as " prescription " or " therapy plan ") and monitor the progress of patient.Website 104 can receive the plan of instruction and is stored in private database 106.Treatment plan can convert an image game rank automatically to.When patient 100 activates his or her image game, new rank or the instruction producing new rank can download to his or her game console 108, and he or she can play this new rank.Because game can be interactive, motion recognition device can the action of monitor patients to store result and the progress of patient, or the form such as accumulated with score in game process provides Real-time Feedback.Result then can be sent to database 106 for storage, and can check on website 104 for therapist 102, for the progress of monitor patients 100, and accepts feedback for patient 100.
Consult Fig. 2, the information of its display summary one given patient is to the example of the dedicated web site page of therapist.The summary that this page can show patient's brief introduction, reservation history, diagnosis, other treatment teacher comment on history etc.
Consult Fig. 3, its display is used the example setting up the treatment plan of a given patient by therapist.Therapist can input required training, number of repetition, difficulty level etc.Because the use of motion recognition device is very important for this method, the operation principle to commercially available motion recognition device (Kinect) and the use to this method thereof will in following descriptions.
Consult Fig. 4, its display is used for the explanation of the structurized smooth method of depth recognition.One projecting apparatus can be used for the scene of the light figure of the known striated of projection.The object be projected can make light figure and its shape be twisted equivalently.Be arranged on the video camera with projecting apparatus with a known distance can catch from reflections off objects light out, and sense the angle of the reverberation of each pixel in the distortion and image formed in light figure.
Consult Fig. 5, its display is for determining the X-Y scheme of the top view of the triangulation calculation of pixel depth.This video camera can apart from light source (b) known distance part.P is the point being projected coordinate to be calculated on object.According to sine:
The coordinate of P is obtained by (dcos β, dsin β).Because α and b is known and β is defined by perspective geometry, the coordinate of P can be solved.Above calculating is for two dimension for the sake of simplicity, but the device of reality can calculate the three-dimensional solution of each pixel coordinate practically, forms the scene that can be used to the complete depth image identifying human motion by this.
Consult Fig. 6, the explanation in its display human body main portions and joint.By identifying patient body position and joint motions, the method discussed can analyze the posture of patient and the action needed for response game, produces by this and directly feeds back to patient, and store for therapist's futures analysis.
Consult Fig. 7, the example of its show image game level screenshot capture.Other design of this specific order can comprise squat down, bow step, kicking, swinging kick etc., patient can see that a role 700 carries out his action in real time.Role 700 may stand on the vehicle 702 of movement, when patient can accelerate when squatting down, and when patient can be slowed down when carrying out bow step.Some footholds 704 to may be displayed on vehicle 702 platform and can dynamically show, with patient directions carrying out squatting down, bow step, kicking, swinging kick etc. time pin is placed on correct position, right-hand rotation device 706a and left-hand rotation device 706b may be displayed on right side and the left side of vehicle 702, forms visual feedback when patient carries out swinging kick training.
Consult Fig. 8, another example of its show image game level screenshot capture.Other design of this specific order can comprise hip joint flexing, spike and jump etc., and patient can see that a role 800 carries out his action in real time.Role 800 can advance on the track 802 with obstacle 804.Client need carries out the such as action such as hip joint flexing, leg jump, to avoid the object of obstacle and/or gathering.
Joint correlation calculates
Consult Fig. 9, it shows the explanation of right bow step training supervision.Can do bow step training with the patient of the initial posture 900 of bow step, it can terminate by the final posture of bow step.Each picture frame that the motion of patient can be caught it by motion recognition device, is monitored by the position sample of several body joints in three dimensions (i.e. x, y, z coordinate).Then can be that a series of picture frame is sent to a computer installation, such as game console 906 by per second 20,30,40 or more picture frames with frame rate.
Game console 906 can comprise a processor 908 and one group of storing value 910, to calculate and the motion of patient to be converted to posture and the gesture of differentiation.In the three dimensions (i.e. x, y, z coordinate) of the picture frame that every width can catch by processor 908, the position of body joints is converted to the spatial relationship (distance namely between four limbs and/or joint, and/or by the angle of the vector temporarily formed between four limbs and/or joint) in the four limbs of health and/or joint.Result of calculation then can compare with this group storing value 910, these values can define for the suitable execution (comprise beginning and the end of training) of specific training in any stage, spatial relationship between required body limbs and/or joint (distance namely between four limbs and/or joint, and/or needed for the angle of the vector formed between four limbs and/or joint scope).
In addition, this group storing value 910 also can be stored in different phase, suitably performs the value range of the transit time between the spatial relationship needed for training.In an example described, certain initial posture 900 is needed for the execution that bow step is suitable.Processor 908 can calculate right hip joint 912, space length between right knee 914 and right ankle 916 and/or angle in the following manner: the vector between right hip joint 912 and right knee 914 can be calculated by the locus deducting them.Similarly, the vector between right knee 914 and right ankle 916 can be calculated.Finally, the space angle between these vectors can be calculated, to verify that these joints can roughly to homogeneous bar line (namely the right leg of patient be roughly straight).Similarly, left hip joint 918, left knee 920 and left ankle 922 also need roughly to homogeneous bar line (namely the left leg of patient is roughly straight).Right ankle 916 and left ankle 922 between which a specific range need roughly the same height.Finally, right knee 914 and left knee 920 between which a specific range need alignment (i.e. neither one should forward).
Also a final posture 902 is needed, processor 908 can calculate space length between right hip joint 912 and right knee 914 and/or angle by following manner: the vector between right hip joint 912 and right knee 914 can be calculated by the locus deducting them, this vector needs parallel to the ground, for example, XZ plane, its Y value equals zero.Similarly, can calculate the vector between right knee 914 and right ankle 916, this vector needs perpendicular to the ground.Finally, the space angle between these vectors can be calculated, to verify the angle (namely the right shin bone of patient is relative to right hip 90-degree bent ± 10 °) that can to form 90 ° ± 10 ° between them.Similarly, the vector of left hip joint 918 and left knee 920 needs perpendicular to the ground.Finally, right knee 914 and left knee 920 need in certain distance (namely the knee of patient is inside or outside).It should be noted, when in final posture 902, from motion recognition device 904, left ankle 922 may be hidden by left knee 920 and/or left hip joint.In this case, motion recognition device 904 can be misrouted or the position of the ankle 922 (as under floor) that do not turn left.Native system can detect this situation and can make hypothesis with left ankle 922 position be hidden according to left knee 920 position correction.In this case, another selection of native system can be regardless of left ankle 922 in all calculating.
Similarly, the middle posture between initial and final posture can be defined.Their parameter can be stored in this group storing value 910, and can be calculated by processor 908 and compare.Calculating can be depending on kinetic property, carries out in the picture frame that each patient is captured.
For the suitable performance of training, need from initial posture 900 to the conversion time of the special time of final posture 902, middle posture and the time maintaining final posture 902.Processor 908 can calculate these time values and they be compared with this group storing value 910.
Rear Attitude Calculation
Consult Figure 10, it shows the example of right pendulum training supervision.The patient of the initial posture of right pendulum 1000 can perform a right pendulum training, and this may terminate in same posture 1000 (the initial and final posture namely in this training may be identical).In this training, processor 908 can carry out post processing.In other words, although movement of patient can monitor 904 by motion recognition device, and a series of picture frame can be sent to game console 906 in real time, but only have after the final carriage gesture of training is fixed, processor 908 just can calculate the space length of movement of patient, and it is compared with this group storing value 910.In described example, for the suitable performance of right pendulum, need a specific initial posture 1000.The compute classes that initial posture 1000 requires is similar to the calculating of initial posture 900, in previous example, describes (right bow step training).As previously mentioned, may be same as initial posture 1000 as final posture, therefore have identical requirement.In right pendulum training, the his or her right ankle 916 of client need performs the motion of circle shape.Imaginary circle can have a high point 1002, wherein right ankle 916 on Z axis closest to motion recognition device 904, low spot 1004, wherein right ankle 916 is farthest away from motion recognition device 904 and a side point 1006 on Z axis, and wherein right ankle 916 is farthest away from patient body in X-axis.These points need a specific time series: before high point 1002 needs to appear at side point 1006, before side point 1006 needs to appear at low spot 1004.High point 1002 and the distance of low spot 1006 on Z axis (also referred to as moving height) need within the specific limits.Distance (also referred to as movement widths) between side point 1006 and opposite side point in X-axis needs within the specific limits.Difference between height and width needs within the specific limits (namely oscillating motion is enough circles).Side point 1006 is required it is similar with the Z axis value of opposite side point, and the difference between this section and movement widths needs within the specific limits.Be similar to side point 1006 and the Y-axis value (namely patient does not contact floor at the right leg of training period) of left ankle 922 supported, side point 1006 and the high Y-axis value putting 1002 need enough difference.For the suitable performance of training, be that the leg of patient needs to be straight, and the shoulder 1008 and 1010 of patient can not tilt to both sides.
For the suitable performance of training, the time from initial posture 1000 to final posture 1000 needs certain hour.Processor 908 can calculate these time values, and they is compared with this group storing value 910.
Node time relation calculates
Consult Figure 11, its display both feet jump and train the example of monitoring.In this training, the spatial relationship between patient joint is keep similar in the training process.In other words, a particular joint may not have too many motion relative to other joints one or more.Therefore, in these cases, if carry out correct training, the spatial relationship utilizing reliable method to calculate a particular joint position and identical joint position can be found at different time, namely the current location of particular joint and front position between find difference.At the example that both feet jump, right hip and left hip (918 and 912) can be monitored with right ankle and left ankle (922 and 916), because their position has when training show difference, particularly in Y-axis.If one gratifying before initial attitude reached, these joints tendency upwards can be monitored, and difference between the Y-axis value in these joints and their initial Y-axis value needs within the specific limits, until exceed certain threshold value just determine it is jump.When downward tendency is identified, the condition of final posture can be found.Both feet jump with one after landing final posture immediately terminate.Z axis and the Y-axis value of right ankle and left ankle (922 and 916) need to be similar.
COMPREHENSIVE CALCULATING
Consult Figure 12, it shows the example of left leg jumping monitoring.The jump patient of initial posture 1200 can perform left leg and to jump training left leg, and this may restraint (the initial and final posture namely in this Training Practice may be identical) at same posture 1200 Knot.Initially (with final) posture 1200 is actually a left leg stance.As previously mentioned, when final posture is identical with initial posture 1200, they have identical requirement.When single (right or left) leg jumps, if the one or more joints in right hip and left hip (912 and 918), right knee and left knee (914 and 920) and right ankle and left ankle (916 and 922) cannot identify by passive movement recognition device 904, can not be performed other calculate, to avoid the gesture recognition of mistake.When performing jump, calculating can consider the points for attention similar with example (both legs jump and train) above, in other words, can monitor left hip 918 and left ankle 922, because their position has the difference shown in the training process, particularly in Y-axis.If a gratifying initial attitude 1200 is reached, these joints tendency upwards can be monitored, and the difference between the Y-axis value in these joints and their initial Y-axis value needs within the specific limits, until exceed certain threshold value just determine it is jump.When downward tendency is identified, the condition of final posture can be found.
Consult Figure 13, the block diagram of its display posture method for detecting.The picture frame 1300 of continuous reception sequence in time.Each picture frame can retain the three-dimensional position (i.e. X, Y, Z coordinate) in multiple patient body joint.Then for the picture frame that every width is captured, be spatial relationship between the four limbs of health and/or joint 1302 (distance namely between four limbs and/or joint and/or the angle between the vector that formed by four limbs and/or joint) by Coordinate Conversion.Then the data that spatial relationship is corresponding with database 910 are compared 1304.Because spatial relationship can have a scope (being also stored in database 910), the spatial relationship extracted from picture frame 1300 can change in their scope, and is still considered to describe the successful training stage.Because the mode performing training is very important, there are great meaning the order of motion stage and the time between them.Therefore, each training stage determined, can check in each or less picture frame, the conversion time between each training stage determined also needs within the scope of one.If examination scope 1306 produces negative result, patient does not correctly perform the training in this stage, and a non-successful feedback 1308 can be shown to patient by the form of text and/or graphical information.If examination scope 1306 produces the result in front, the inspection 1310 of " training terminate " can be performed, with determine the training stage of last " accreditation " be train in last.If so, training can terminate, and one is successfully fed back and 1312 can be shown to patient by the form of text and/or graphical information.If no, training may also not terminate, and still needs and wants extra picture frame through conversion 1302 to terminate the order of training stage.
Native system and method describe as above with the example of right bow step, swing, both legs jump, left leg jump training.Similarly, this method and system can monitor by similar mode various other rehabilitation training.
For the training of hip joint flexing, such as, native system can check the reason of following execution error: roll tiltedly, support on knee joint bending, disequilibrium (namely hand contacts floor), unsuitable hip joint carry, duration is short.
For (both legs) training of typically squatting down, such as, native system can check the reason of following execution error: roll tiltedly, knee inwardly turns, asymmetric performance, unsuitable knee joint bending, disequilibrium (namely hand contacts floor), duration are short.
To squat down training for single leg, such as, native system can check the reason of following execution error: roll tiltedly, support that knee joint inwardly turns, disequilibrium (namely hand contacts floor), unsuitable knee joint bending etc.
For single leg support training, such as, native system can check the reason of following execution error: roll tiltedly, support on knee joint bending, disequilibrium (namely hand contacts floor), unsuitable hip joint carry, duration is short.
Consult Figure 14, the block diagram of individual training equipment in its display system.Individual training equipment can be software module, and it is operatively coupled to the nextport hardware component NextPort of system.Motion sensor (such as Kinect) 1402 can monitor the gesture of patient 1400, and then motion sensor 1402 can calculate the depth image of patient 1400.Depth image is sent to computer installation, such as game console 1404, and it can calculate and the action of patient 1400 be converted to predetermined gesture, posture and training, and is presented in the image game of display 1406.When patient 1400 performs specific training mistakenly and/or systems scan to patient's 1400 undesired situation time, vision and/or sound feedback may be displayed on display 1406.For example, individual training diagram 1408 is presented on display 1406, and by text message 1410 and/or acoustic information by the training feedback of mistake to patient 1400.Individual training diagram 1408 also can advise that patient 1400 correctly performs the method for training, and/or demonstrates on display 1406.Similarly, when patient correctly performs training, the feedback in vision and/or sound front also may be displayed on display 1406.The feedback in front can illustrate 1408 and/or express text message 1410 and/or acoustic information by assembly (such as point scoring etc.) intrinsic in image game by individual training.
When patient 1400 do not show any trial perform repeatedly the training of (such as 3,4,5,6,7 or more) continuous print time, such as, image game can stop, and on display 1406, shows one clear up problems.
When patient 1400 does not demonstrate repeatedly the rear pendulum control of (such as 3,4,5,6,7 or more) continuous print training, such as, image game can stop, and can show the brief description about ability of posture control on display 1406.
When patient 1400 performs repeatedly the identical compensating motion of (such as 3,4,5,6,7 or more) continuous print training, (action " deception " that patient does also makes training easier, such as move unnecessary four limbs to improve balance etc.) time, such as, image game can stop, and can show wrong motion on display 1406 and guide the brief description of correct executive mode.
Difference under any circumstance, treatment plan can be adapted to the performance (such as violent training need also lower than the inexecutable training of patient 1400) of patient 1400, then can display 1406 show substitute or acclimatization training in addition 25 to the above information to patient 1400.
Consult Figure 15, the flow chart of its display feedback processing.Patient can as execution indicated in his or her treatment plan training 1500.Then, this system can the action of monitor patients and gesture, when detect perform and required training is variant time 1502, the feedback of detecting difference can be supplied to patient 1504.If needed, described treatment plan can be changed.
In the description and claim of the application, each word " comprises ", " comprising " and " having " and form thereof are not member in the restriction inventory relevant with each word.In addition, the application and be incorporated to reference file and have repugnancy, be intended to be controlled by the application in this.
Claims (20)
1. a motion rehabilitation system, comprising:
One motion sensor, comprises an action induction video camera; And
One computer installation, comprising:
(a) non-momentary internal memory, comprise one group of rehabilitation posture storing value, each storing value defines the spatial relationship of sequence in time between several theoretical body joints, and wherein each time series comprises: initial space relation, middle pose space relation and final spatial relationship; And
(b) one hardware processor be configured to: (i) receives continuously the picture frame coming from the sequence in time that described action induction video camera records, wherein each picture frame comprises the three-dimensional position of each of several body joints of patient, (ii) in real time the picture frame of recorded sequence is in time compared with the spatial relationship of sequence in time, to detect the rehabilitation posture that patient performs, (iii) detect the difference of one that the rehabilitation posture of described patient execution is corresponding with this group rehabilitation posture storing value, and provide one to be indicated to described patient.
2. the system as claimed in claim 1, wherein said hardware processor is configured to make described treatment plan be adapted to the performance of described patient further.
3. the system as claimed in claim 1, wherein said difference comprise described patient do not show any trial perform repeatedly continuous print training.
4. the system as claimed in claim 1, wherein said difference comprises described patient and not to demonstrate repeatedly the rear pendulum control of continuous print training.
5. the system as claimed in claim 1, wherein said difference comprises the compensating motion that described patient performs repeatedly continuous print training.
6. the system as claimed in claim 1, wherein said instruction comprises the illustrated feedback of individual training of display vision over the display.
7. system as claimed in claim 6, wherein said instruction comprises the feedback of the display text message by the expression of described individual training diagram over the display.
8. system as claimed in claim 6, wherein said instruction comprises the feedback of the acoustic information of being expressed by described individual training diagram.
9. system as claimed in claim 6, wherein said individual training diagram is configured to provide the explanation of described difference to described patient.
10. system as claimed in claim 6, wherein said individual training diagram is configured to provide the suggestion of correct execution training to described patient.
There is provided the method for feedback in 11. 1 kinds of motion rehabilitation systems, described method comprises:
There is provided a motion sensor, it comprises an action induction video camera;
There is provided a computer installation, it comprises:
(a) non-momentary internal memory, comprise one group of rehabilitation posture storing value, each storing value defines the spatial relationship of sequence in time between several theoretical body joints, and wherein each time series comprises: initial space relation, middle pose space relation and final spatial relationship; And
(b) hardware processor: and
Use described hardware processor with: (i) receives continuously the picture frame coming from the sequence in time that described action induction video camera records, wherein each picture frame comprises the three-dimensional position of each of several body joints of patient, (ii) in real time the picture frame of recorded sequence is in time compared with the spatial relationship of sequence in time, to detect the rehabilitation posture that patient performs, (iii) detect the difference of one that the rehabilitation posture of described patient execution is corresponding with this group rehabilitation posture storing value, and provide one to be indicated to described patient.
12. methods as claimed in claim 11, wherein use described hardware processor to comprise the performance making described treatment plan be adapted to described patient further.
13. methods as claimed in claim 11, wherein said difference comprise described patient do not show any trial perform repeatedly continuous print training.
14. methods as claimed in claim 11, wherein said difference comprises described patient and not to demonstrate repeatedly the rear pendulum control of continuous print training.
15. methods as claimed in claim 11, wherein said difference comprises the compensating motion that described patient performs repeatedly continuous print training.
16. methods as claimed in claim 11, wherein said instruction comprises the illustrated feedback of individual training of display vision over the display.
17. methods as claimed in claim 16, wherein said instruction comprises the feedback of the display text message by the expression of described individual training diagram over the display.
18. methods as claimed in claim 16, wherein said instruction comprises the feedback of the acoustic information of being expressed by described individual training diagram.
19. methods as claimed in claim 16, wherein said individual training diagram is configured to provide the explanation of described difference to described patient.
20. methods as claimed in claim 16, wherein said individual training diagram is configured to provide the suggestion of correct execution training to described patient.
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| PCT/IL2014/050538 WO2014199387A1 (en) | 2013-06-13 | 2014-06-12 | Personal digital trainer for physiotheraputic and rehabilitative video games |
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| US (1) | US20150202492A1 (en) |
| CN (1) | CN105451829A (en) |
| GB (1) | GB201310523D0 (en) |
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Also Published As
| Publication number | Publication date |
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| GB201310523D0 (en) | 2013-07-24 |
| WO2014199387A1 (en) | 2014-12-18 |
| US20150202492A1 (en) | 2015-07-23 |
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