CN105963926A - Multi-mode fusion hand function rehabilitation training and intelligent evaluation system - Google Patents
Multi-mode fusion hand function rehabilitation training and intelligent evaluation system Download PDFInfo
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4842—Monitoring progression or stage of a disease
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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
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/212—Input arrangements for video game devices characterised by their sensors, purposes or types using sensors worn by the player, e.g. for measuring heart beat or leg activity
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Abstract
The invention discloses a multi-mode fusion hand function rehabilitation training and intelligent evaluation system, which comprises a rehabilitation training mechanism, a sensor data collecting device, a rehabilitation evaluation system and a scene interaction game system, wherein the rehabilitation training mechanism is used for performing rehabilitation training on the fingers and the wrist; the sensor data collecting device is used for collecting one or various kinds of signals from a surface electromyographic signal, a force signal and a posture signal in real time; the rehabilitation evaluation system performs quantitative evaluation on the rehabilitation training condition of a patient according to a multi-mode signal collected by the sensor data collecting device; and the scene interaction game system is used for providing information feedback such as rehabilitation training, effect evaluation and vision for the patient. The multi-mode fusion hand function rehabilitation training and intelligent evaluation system disclosed by the invention has the advantages that by aiming at the rehabilitation training of a cerebral stroke patient, real-time feedback regulation and control, quantitative evaluation and game feedback can be performed in the rehabilitation training process; the training enthusiasm of the patient is effectively aroused; and the rehabilitation training effect is enhanced.
Description
Technical field
The invention belongs to technical field of medical equipment, be specifically related to a kind of multi-modal fusion hands function
Rehabilitation training and intelligent evaluation system.
Background technology
Along with the aging of society, apoplexy (being commonly called as apoplexy) is with high incidence and high disability rate
Feature, become threat one of modal cause of disease of health of people.China dies from brain every year at present
Apoplexy about 1,500,000 people, new carbuncle in the occipital region apoplexy about 2,000,000 people；The survivor of about 75% leaves difference
The dysfunction of degree, estimates annual social economical burden 40,000,000,000 yuan.Scientific research and clinic
Application shows, timely and effectively rehabilitation training, can effective recovered part extremity motor function,
Improve patients with cerebral apoplexy self care ability, reduce disability rate, alleviate family and the economy of society
Burden.
Rehabilitation training is usually according to neurodevelopmental rule, first from the beginning of shoulder joint, gradually mistake
Cross elbow joint, carpal joint and Finger Function Training, wait until shoulder, elbow, wrist function of joint extensive
Carry out hands functional training after Fu again and the most miss optimal rehabilitation treatment time.Therefore, should be by hands
The functional training of functional rehabilitation is carried out with the rehabilitation training of upper and lower extremities simultaneously, effectively utilizes morbidity early
This period of optimal rehabilitation treatment time of phase.But, the rehabilitation of hands function is fine rehabilitation, and hand closes
Joint and teleneuron are relative complex, and muscle mostly is little muscle, traditional treatment Shi Shougong rehabilitation
Time-consuming many, weak effect.Therefore, healing hand function training and the assessment of patients with cerebral apoplexy is current
A great problem urgently to be resolved hurrily.
Therefore one is for patients with cerebral apoplexy rehabilitation training, rehabilitation training can be carried out in real time
Feedback regulation, effectively transfers the training of multi-modal fusion healing hand function and the intelligence of its training enthusiasm
System of assessing urgently proposes.
Summary of the invention
In order to solve above-mentioned technical problem, the present invention proposes a kind of multi-modal fusion hands function
Rehabilitation training and intelligent evaluation system, this system, can be right for patients with cerebral apoplexy rehabilitation training
Rehabilitation training carries out Real-time Feedback regulation and control, effectively transfers its training enthusiasm, strengthens rehabilitation
Training effect.
In order to achieve the above object, technical scheme is as follows:
Rehabilitation training mechanism, for finger and wrist are carried out rehabilitation training, including: machinery instruction
Practice device and the machine control unit electrically connected with mechanical training device；Sensor data acquisition
Device, is arranged on rehabilitation training mechanism and/or patient, for Real-time Collection surface electromyogram signal,
One or more signals in dynamics signal and attitude signal, sensor data acquisition device with
Machine control unit electrically connects；Assessment system, assessment system is with sensor data acquisition device even
Connect, the signal that assessment system gathers according to the sensor data acquisition device rehabilitation training to patient
Situation carries out quantitative evaluation；Scene interaction games system, for providing game rehabilitation instruction for patient
Practicing, scene interaction games system includes multiple game module for training patient's hands function；Pass
The signal of collection is fed back to machine control unit, machine control unit by sensor data acquisition unit
This signal it is analyzed and processes, forming control signal and be sent to mechanical training device.
Multi-modal fusion healing hand function of the present invention training and intelligent evaluation system are for apoplexy
Rehabilitation is trained, and rehabilitation training can be carried out Real-time Feedback regulation and control, effectively transfer it
Training enthusiasm, strengthens rehabilitation training effect.Rehabilitation assessment system is according to sensor data acquisition
The multi-modal signal of device collection carries out quantitative evaluation, sight to the rehabilitation training situation of patient
Interaction game system for providing the information such as game rehabilitation training, recruitment evaluation and vision for patient
Feedback.
On the basis of technique scheme, also can do and improve as follows:
As preferred scheme, sensor data acquisition device includes: surface myoelectric sensor,
One or more in force transducer, attitude transducer.
Use above-mentioned preferred scheme, simple in construction.
As preferred scheme, mechanical training device includes: driving means, Timing Belt and set
Putting and the finger ring on Timing Belt, driving means is connected with toothed belt transmission, and driving means drives same
Step band and finger ring run-in synchronism, driving means electrically connects with machine control unit.
Using above-mentioned preferred scheme, simple in construction, low cost, effective finger carries out rehabilitation instruction
Practice.
As preferred scheme, surface myoelectric sensor and attitude transducer are arranged on patient,
Force transducer is arranged on finger ring.
Use above-mentioned preferred scheme, it is simple to the situation of patient is monitored understanding in real time.
As preferred scheme, scene interaction games system also includes: game settings control module,
Game settings control module is for controlling the secondary of the complexity of game, the time of game and game
Number.
Use above-mentioned preferred scheme, to the complexity of game, the time of game and game
Number of times is controlled.
As preferred scheme, game settings control module is electrically connected with sensor data acquisition device
Connecing, the signal of collection is fed back to game settings control module by sensor data acquisition device, trip
This signal is analyzed and processes by play setup control module, complexity, the game to game
The number of times of time and game be adjusted.
Use above-mentioned preferred scheme, according to sensor data acquisition device gather signal to trip
The complexity of play, the time of game are controlled with the number of times of game, are more convenient for for patient
Rehabilitation situation carry out rehabilitation training.
As preferred scheme, scene interaction games system also includes that game result manages module,
Game result management module is used for the game result of patient is carried out record, and by this game result
Form form.
Use above-mentioned preferred scheme, it is simple to the game situation of patient is understood by the later stage.
As preferred scheme, game settings control module is also with game result management module even
Connecing, game result management module provides the historical game play result of patient for game settings control module
Form.
Using above-mentioned preferred scheme, game settings control module is according to historical game play result form
And the signal of sensor data acquisition device collection come to game complexity, game time
Between with game number of times be controlled, be more convenient for carrying out rehabilitation instruction for the rehabilitation situation of patient
Practice.
Accompanying drawing explanation
The multi-modal fusion healing hand function training that Fig. 1 provides for the embodiment of the present invention is commented with intelligence
One of structured flowchart estimating system.
The structural representation of the mechanical training device that Fig. 2 provides for the embodiment of the present invention.
The multi-modal fusion healing hand function training that Fig. 3 provides for the embodiment of the present invention is commented with intelligence
Estimate system structured flowchart two.
Wherein: 1 rehabilitation training mechanism, 11 mechanical training devices, 111 driving means, 112
Timing Belt, 113 finger rings, 114 spacing marks, 12 machine control units, 2 sensing datas
Harvester, 3 assessment systems, 4 scene interaction games systems, 41 game module, 42 game
Setup control module, 43 game result management modules.
Detailed description of the invention
Describe the preferred embodiment of the present invention below in conjunction with the accompanying drawings in detail.
As shown in Figure 1-2, in order to reach the purpose of the present invention, multi-modal fusion healing hand function
In the some of them embodiment of training and intelligent evaluation system,
The training of multi-modal fusion healing hand function includes with intelligent evaluation system: rehabilitation training mechanism
1, sensor data acquisition device 2, assessment system 3 and scene interaction games system 4.
Rehabilitation training mechanism 1 is for carrying out rehabilitation training to finger and wrist；Sensing data is adopted
Acquisition means 2 is arranged on rehabilitation training mechanism 1 and patient, believes for Real-time Collection surface myoelectric
Number, dynamics signal and attitude signal, and this signal is fed back in rehabilitation training mechanism 1；Comment
Estimate system 3 to be connected with sensor data acquisition device 2, for the rehabilitation training situation to patient
Carry out quantitative evaluation.Scene interaction games system 4 is used for providing game rehabilitation training for patient,
Scene interaction games system 4 includes multiple game module 41 for training patient's hands function, as
Dragsaw is sub, cut wood, picks up bean or pea and plays the interesting higher game such as suslik.
Rehabilitation training mechanism 1 includes: mechanical training device 11 and with mechanical training device 11
The machine control unit 12 of electrical connection, machine control unit 11 and sensor data acquisition device
2 electrical connections.Mechanical training device 11 includes: driving means 111, Timing Belt 112 and set
Putting and the finger ring 113 on Timing Belt 112, driving means 111 is in transmission connection with Timing Belt 112,
Driving means 111 drives Timing Belt 112 and finger ring 113 run-in synchronism, driving means 111 with
Machine control unit 12 electrically connects.The signal feedback that sensor data acquisition device 2 will gather
To machine control unit 12, this signal is analyzed and processes, shape by machine control unit 12
Control signal is become to be sent to control device 12.
Sensor data acquisition device 2 includes: surface myoelectric sensor, force transducer, attitude
Sensor.Surface myoelectric sensor and attitude transducer are arranged on patient, and force transducer is arranged
On finger ring 113.
Scene interaction games system 4 also includes: game settings control module 42, game settings control
Molding block 42 is for controlling the complexity of game, the time of game and the number of times of game.Trip
Play setup control module 42 electrically connects with sensor data acquisition device 2, and sensing data is adopted
The signal of collection is fed back to game settings control module 42 by acquisition means 2, and game settings controls mould
This signal is analyzed and processes by block 42, to game complexity, game time with
The number of times of game is adjusted.Scene interaction games system also includes that game result manages module
43, game result management module 43 is used for the game result of patient is carried out record, and should
Game result forms form.
Multi-modal fusion healing hand function of the present invention training and intelligent evaluation system are for apoplexy
Rehabilitation is trained, and rehabilitation training can be carried out Real-time Feedback regulation and control, effectively transfer it
Training enthusiasm, training effect is good, and it is specific as follows:
First, design mechanical training device 11, Real-time Collection surface electromyogram signal, dynamics signal,
The multi-sensor datas such as attitude signal carry out Multi-information acquisition and surpass as feedback regulation parameter, employing
The feedback control strategies such as front prediction and control algolithm, carry out feedback control to mechanical training device 11
System.
Second, utilize multi-modal fusion technology, set up Multiple Source Sensor signal and Fugl-Meyer
Quantization mapping model between scale.Multisensor parameter during training is carried out information fusion
Process with feature extraction, feature selection etc., then utilize the data such as machine learning, data mining
Treatment technology, selects quantizating index and provides visualisation parameters quantized result, finally assessing system
The rehabilitation training situation of 3 couples of patients is marked.
3rd, mechanical training device 11 can choose thumb, forefinger, middle finger, the third finger, little
Refer to and object that 6 positions such as wrist are trained as healing hand function, and left hand and the right hand equal
Can be trained, Timing Belt 112 is provided with spacing mark 114, the length at each training position
Spend equal adjustable, to adapt to the patients with cerebral apoplexy of different individuations.According to bionics principle,
Design multivariant healing hand function training machinery training devices 11.Driving of driving means 111
Flowing mode can be that motor controls, or the softest pneumatic control, hydraulic control etc..Finger
Fixed form is that finger ring 113 is fixed, it can also be fixed for VELCRO, attraction or other
Mode, wrist fixed form is that the mode such as VELCRO, movement spire lamella is fixed.
The process that patient utilizes mechanical training device 11 to carry out rehabilitation training can be active training,
The multiple training modes such as passive exercise or the main rehabilitation training passively combined, active training is permissible
Preferably for individual patients, transfer its training enthusiasm, and there is feedback function, thus
There is more preferable training effect.The present invention utilizes surface myoelectric sensor, pressure transducer, appearance
Multiple sensors such as state sensor are as feedback information, and use and first and then unique repeat prediction
Control rehabilitation training is carried out Real-time Feedback regulation and control.
4th, merge the feedback data of multisensor, the people between exploitation Multiple Source Sensor and game
Machine interactive interface, in the data fusion of sensor to the scene of game designed, combined with virtual
Reality technology, it is achieved man-machine interaction and information feedback, it is achieved scene interaction games system 4.Feelings
Scape interactive game 4 has good human-computer interaction function, can strengthen patients with cerebral apoplexy rehabilitation instruction
The enthusiasm practiced and initiative, thus reach more preferable rehabilitation efficacy.In conjunction with daily life scene,
Design meets the scene of game of hands functional training targetedly.Game can set different lives
Sight and scene of game, the feedback data of sensor is carried out point by game settings control module 42
Analysis and process, be adjusted with the number of times of game complexity, the time of game of game,
Different training difficulty can be set according to patient body state, by timer counter or fixed number timing
Etc. mode, play, and according to the feedback information of multisensor, be given in real time is dynamic
Make quantity and scoring event.Game in game module 41 can be divided into single player mode, double,
Many people battle mode.It addition, game result management module 43 is for the game result to patient
Carry out record, and this game result is formed form.Being easy to the later stage carries out historical query, printing
Form, upload Cloud Server etc..
One multi-modal fusion healing hand function of the present invention training and intelligent evaluation system are for brain
In apoplexy patient rehabilitation training, the training of the healing hand function such as finger, wrist and the need of rehabilitation assessment
It is designed.Based on ergonomic designs's thumb, forefinger, middle finger, the third finger, little finger of toe
With the multivariant healing hand function of multiple location such as wrist training frame for movement；Collection surface myoelectricity
The sensor data information such as signal, dynamics signal, attitude signal carry out merging as feedback parameter,
Rehabilitation training is carried out Real-time Feedback regulation and control；Calculated by the quantitative evaluation of visualization index
Method, carries out auto-scoring and intelligence by stages to rehabilitation training；Use the man-machine of virtual reality
Interaction technique, utilizes scene interaction games system 4 to increase the positive of patients with cerebral apoplexy rehabilitation training
Property.
As it is shown on figure 3, for the implementation result optimizing the present invention further, at other
In embodiment, remaining feature technology is identical, and difference is, game settings control module
42 are also connected with game result management module 43, and game result management module 43 is game settings
Control module 42 provides the historical game play result form of patient.
Using the scheme of above preferred embodiment, game settings control module 42 is swum according to history
The signal that play result form and sensor data acquisition device 2 gather carrys out the difficulty or ease journey to game
Degree, the time of game are controlled with the number of times of game, the rehabilitation situation for patient of being more convenient for
Carry out rehabilitation training.
The preferred implementation more than invented, it is noted that for the ordinary skill people of this area
For Yuan, without departing from the concept of the premise of the invention, it is also possible to make some deformation and
Improving, these broadly fall into protection scope of the present invention.
Claims (8)
1. the training of multi-modal fusion healing hand function and intelligent evaluation system, it is characterised in that including:
Rehabilitation training mechanism, for finger and wrist are carried out rehabilitation training, including: mechanical training
Device and the machine control unit electrically connected with described mechanical training device；
Sensor data acquisition device, is arranged on rehabilitation training mechanism and/or patient, in real time
One or more signals in collection surface electromyographic signal, dynamics signal and attitude signal, described
Sensor data acquisition device electrically connects with described machine control unit；
Rehabilitation assessment system, described assessment system is connected with described sensor data acquisition device, institute
The rehabilitation training to patient of signal that system gathers according to described sensor data acquisition device is estimated in commentary
Situation carries out quantitative evaluation；
Scene interaction games system, for providing game rehabilitation training, described scene interaction for patient
Games system includes multiple game module for training patient's hands function；
The signal of collection is fed back to described machine control unit by described sensor data acquisition device,
This signal is analyzed and processes by described machine control unit, forms control signal and is sent to described
Mechanical training device.
Multi-modal fusion healing hand function the most according to claim 1 training and intelligent evaluation system
System, it is characterised in that described sensor data acquisition device includes: surface myoelectric sensor, power
One or more in sensor, attitude transducer.
Multi-modal fusion healing hand function the most according to claim 2 training and intelligent evaluation system
System, it is characterised in that described mechanical training device includes: driving means, Timing Belt and setting
With the finger ring on described Timing Belt, described driving means is connected with described toothed belt transmission, described in drive
Dynamic device drives described Timing Belt and described finger ring run-in synchronism, described driving means and described machinery
Control device electrical connection.
Multi-modal fusion healing hand function the most according to claim 3 training and intelligent evaluation system
System, it is characterised in that described surface myoelectric sensor and described attitude transducer are arranged on patient,
Described force transducer is arranged on described finger ring.
5. train and intelligence according to the multi-modal fusion healing hand function described in any one of claim 1-4
Assessment system, it is characterised in that described scene interaction games system also includes: game settings controls
Module, described game settings control module for control game complexity, game time with
The number of times of game.
Multi-modal fusion healing hand function the most according to claim 7 training and intelligent evaluation system
System, it is characterised in that described game settings control module and described sensor data acquisition device electricity
Connecting, the signal of collection is fed back to described game settings and controls by described sensor data acquisition device
Module, this signal is analyzed and processes by described game settings control module, the difficulty or ease to game
Degree, the time of game are adjusted with the number of times of game.
Multi-modal fusion healing hand function the most according to claim 8 training and intelligent evaluation system
System, it is characterised in that described scene interaction games system also includes that game result manages module, institute
State game result management module for the game result of patient is carried out record, and by this game result
Form form.
Multi-modal fusion healing hand function the most according to claim 9 training and intelligent evaluation system
System, it is characterised in that described game settings control module is also with described game result management module even
Connecing, described game result management module provides the history trip of patient for described game settings control module
Play result form.
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