CN106176134A - A kind of method and system of autonomous training - Google Patents
A kind of method and system of autonomous training Download PDFInfo
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- CN106176134A CN106176134A CN201610546084.8A CN201610546084A CN106176134A CN 106176134 A CN106176134 A CN 106176134A CN 201610546084 A CN201610546084 A CN 201610546084A CN 106176134 A CN106176134 A CN 106176134A
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- distal joint
- hemiplegic patient
- training
- state information
- ipsilateral
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0211—Walking coordination of arms and legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
Abstract
The invention discloses the method and system of a kind of autonomous training, obtain hemiplegic patient and be good for the electromyographic signal of the crucial muscle at the movement state information of distal joint of side and described distal joint, the distal joint controlling hemiplegic patient's Ipsilateral according to described movement state information and described electromyographic signal does corresponding rehabilitation exercise, controls to preset the motion of controlled device in virtual scene according to described rehabilitation exercise；The movable information control Ipsilateral being good for side according to hemiplegic patient does corresponding rehabilitation exercise, allows patient be actively engaged in rehabilitation training, the subjective initiative of raising patient, and increases the interest of rehabilitation training, simple to operate, improves training effect.
Description
Technical field
The present invention relates to the rehabilitation training technical field of hemiplegic patient, particularly relate to a kind of method of autonomous training and be
System.
Background technology
For hemiplegic patient, the integral rehabilitation of hemiplegic patient is had the heaviest by distal joint such as ankle joint, wrist, finger rehabilitation
Big meaning.Traditional ankle joint rehabilitation training can be divided into passive exercise and active training both of which.In passive exercise, by controlling
Treat teacher and help patient activity's ankle joint, assist patient to carry out carrying on the back the training such as song, varus；During active training, patient independently utilize
Simple rehabilitation device such as binder, SACHfoot adaptor and ad-hoc location.Wrist, finger rehabilitation training with therapist's manual operations are
Main Means, its training method operates based on therapist's subjectivity, and it is repeatable poor to exist, the defects such as training effect is limited.
Rehabilitation medicine shows, post-stroke cerebral cortex can occur the restructuring of nerve, and the recovery process master of hemiplegia function
The restructuring in affected motion region to be shown as and the change of non-injured brain hemisphere.With operation be guide, repeat attach most importance to,
Use significant to limbs contributes to the plasticity of post-stroke function.It addition, patient is actively engaged in the health to hemiplegic patient
Multiple effect is significantly improved.
Summary of the invention
It is an object of the invention to propose the method and system of a kind of autonomous training, be good for the motion letter of side according to hemiplegic patient
Breath controls Ipsilateral and does corresponding rehabilitation exercise, allows patient be actively engaged in rehabilitation training, improves the subjective initiative of patient, and
Increase the interest of rehabilitation training, simple to operate, improve training effect.
For reaching this purpose, the present invention by the following technical solutions:
On the one hand, the present invention proposes a kind of method of autonomous training, including:
Obtain hemiplegic patient and be good for crucial muscle at the movement state information of distal joint of side and described distal joint
Electromyographic signal；
The distal joint controlling hemiplegic patient's Ipsilateral according to described movement state information and described electromyographic signal is done accordingly
Rehabilitation exercise；
Control to preset the motion of controlled device in virtual scene according to described rehabilitation exercise.
Wherein, described distal joint includes that carpal joint, articulations digitorum manus and ankle joint, described movement state information include motion speed
Degree, angular velocity of satellite motion, largest motion angle and maximum movement speed.
Wherein, described obtain hemiplegic patient and be good for the pass at the movement state information of distal joint of side and described distal joint
After the electromyographic signal of key muscle, also include:
Judge that autonomous training mode, described autonomous training mode include active training pattern, passive exercise pattern and combination
Training mode.
Wherein, if judging, described autonomous training mode is active training pattern, described according to described movement state information and
Described electromyographic signal control hemiplegic patient's Ipsilateral distal joint do corresponding rehabilitation exercise particularly as follows:
Control the distal joint of hemiplegic patient's Ipsilateral according to described movement state information to do and be good for the far-end of side with hemiplegic patient
The rehabilitation exercise that joint is identical, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal
Described crucial muscle is carried out corresponding electricity irritation.
Wherein, if judging, described autonomous training mode is passive exercise pattern, and described acquisition hemiplegic patient is good for the far-end of side
After the electromyographic signal of the crucial muscle at the movement state information in joint and described distal joint, also include:
Determine that according to described movement state information the training parameter of hemiplegic patient's distal joint, described training parameter include fortune
Dynamic speed and movement angle；
The described distal joint according to described movement state information and described electromyographic signal control hemiplegic patient's Ipsilateral does phase
The rehabilitation exercise answered particularly as follows:
Select curve movement according to described training parameter, control hemiplegic patient's distal joint and do consistent with described curve movement
Rehabilitation exercise, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to described pass
Key muscle carries out corresponding electricity irritation.
Wherein, if judging, described autonomous training mode is combined training pattern, and described acquisition hemiplegic patient is good for the far-end of side
After the electromyographic signal of the crucial muscle at the movement state information in joint and described distal joint, also include:
Additional moment is applied to the distal joint of hemiplegic patient's Ipsilateral；
The described distal joint according to described movement state information and described electromyographic signal control hemiplegic patient's Ipsilateral does phase
The rehabilitation exercise answered particularly as follows:
Movement state information and the far-end pass of described additional moment control hemiplegic patient's Ipsilateral of side it is good for according to hemiplegic patient
Joint does is good for the rehabilitation exercise that the distal joint of side is identical, the crucial flesh at the distal joint of hemiplegic patient's Ipsilateral with hemiplegic patient
During the performance power deficiency of meat, according to described electromyographic signal, described crucial muscle is carried out corresponding electricity irritation；
Obtain the information of described rehabilitation exercise, adjust the value of described additional moment according to described information.
On the other hand, the present invention proposes the system of a kind of autonomous training, including:
Motion detection apparatus, for obtaining the movement state information that hemiplegic patient is good for the distal joint of side；
Muscle electric detection means EMG, for obtaining the electromyographic signal of the crucial muscle at distal joint；
Autonomous training module, for controlling hemiplegic patient's Ipsilateral according to described movement state information and described electromyographic signal
Distal joint does corresponding rehabilitation exercise；
Virtual module, for controlling to preset the motion of controlled device in virtual scene according to described rehabilitation exercise.
Wherein, also include:
Mode decision module, is used for judging that autonomous training mode, described autonomous training mode include active training pattern, quilt
Dynamic training mode and combined training pattern.
Wherein, described autonomous training module includes:
Active training module, if judging when autonomous training mode is active training pattern for described mode decision module,
Control the distal joint of hemiplegic patient's Ipsilateral according to described movement state information and do that be good for the distal joint of side with hemiplegic patient identical
Rehabilitation exercise, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to described pass
Key muscle carries out corresponding electricity irritation.
Wherein, described autonomous training module includes:
For described mode decision module, training parameter acquisition module, if judging that autonomous training mode is passive exercise pattern
Time, determine that according to described movement state information the training parameter of hemiplegic patient's distal joint, described training parameter include motion speed
Degree and movement angle；
Passive exercise module, for selecting curve movement according to described training parameter, controls hemiplegic patient's distal joint and does
During the performance power deficiency of the rehabilitation exercise consistent with described curve movement crucial muscle at described distal joint, according to described
Electromyographic signal carries out corresponding electricity irritation to described crucial muscle；
Additional moment applies module, if judging that autonomous training mode is combined training pattern for described mode decision module
Time, apply additional moment to the distal joint of hemiplegic patient's Ipsilateral；
Combined training module, controls hemiplegia for the movement state information and described additional moment being good for side according to hemiplegic patient
The distal joint of patient's Ipsilateral is done and is good for the rehabilitation exercise that the distal joint of side is identical with hemiplegic patient, at described distal joint
During the performance power deficiency of crucial muscle, according to described electromyographic signal, described crucial muscle is carried out corresponding electricity irritation；
Parameter adjustment module, for obtaining the information of described rehabilitation exercise, adjusts described additional moment according to described information
Value.
What the technical scheme that the present invention provides was brought has the beneficial effect that
The method and system of a kind of autonomous training of the present invention, obtains the kinestate letter that hemiplegic patient is good for the distal joint of side
The electromyographic signal of the crucial muscle at breath and described distal joint, controls according to described movement state information and described electromyographic signal
The distal joint of hemiplegic patient's Ipsilateral does corresponding rehabilitation exercise, controls in default virtual scene controlled according to described rehabilitation exercise
The motion of object；The movable information control Ipsilateral being good for side according to hemiplegic patient does corresponding rehabilitation exercise, allows patient be actively engaged in
In rehabilitation training, the subjective initiative of raising patient, and increase the interest of rehabilitation training, and simple to operate, improve training
Effect.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of first embodiment of method of a kind of autonomous training of the present invention.
Fig. 2 is the method flow diagram of second embodiment of method of a kind of autonomous training of the present invention.
Fig. 3 is the block diagram of first embodiment of system of a kind of autonomous training of the present invention.
Fig. 4 is the block diagram of second embodiment of system of a kind of autonomous training of the present invention.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings and by detailed description of the invention.
Embodiment one
It it is the method flow diagram of first embodiment of method of a kind of autonomous training of the present invention with reference to Fig. 1, Fig. 1.
In the first embodiment, this method independently trained includes:
S101, obtains hemiplegic patient and is good for the crucial flesh at the movement state information of distal joint of side and described distal joint
The electromyographic signal of meat；
The side of hemiplegic patient is healthy, can be freely movable, is referred to as strong side, and opposite side causes due to factors such as brain soldiers
Limbs are stiff, referred to as Ipsilateral.For hemiplegic patient, the rehabilitation of distal joint such as carpal joint, articulations digitorum manus and ankle joint is to partially
The integral rehabilitation of paralysis patient has very great significance, and patient is actively engaged in having the rehabilitation efficacy of hemiplegic patient significantly simultaneously
Improve.
S102, the distal joint controlling hemiplegic patient's Ipsilateral according to described movement state information and described electromyographic signal does phase
The rehabilitation exercise answered；
The method obtains hemiplegic patient and is good for the key at the movement state information of distal joint of side and described distal joint
The electromyographic signal of muscle, this movement state information includes movement velocity, angular velocity of satellite motion, largest motion angle and largest motion speed
Degree.
Application the method carries out rehabilitation training to hemiplegic patient can three kinds of autonomous training modes, i.e. active training mould
Formula, passive exercise pattern and combined training pattern, particularly as follows:
Active training pattern: acquisition hemiplegic patient is good for movement velocity and angular velocity of satellite motion, the Yi Jisuo of the distal joint of side
Stating the electromyographic signal of crucial muscle at distal joint, the moment obtaining correspondence according to this movement velocity and angular velocity of satellite motion is bent
Line, controls the distal joint of hemiplegic patient's Ipsilateral according to this M curve and does and be good for the health that the distal joint of side is identical with hemiplegic patient
Multiple motion, and during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to described key
Muscle carries out corresponding electricity irritation.This autonomous training mode is applicable to body side and completely loses the patient of motor capacity.
Passive exercise pattern: acquisition hemiplegic patient is good for largest motion angle speed and the maximum movement speed of the distal joint of side,
And the electromyographic signal of the crucial muscle at described distal joint, determine partially according to this largest motion angle speed and maximum movement speed
The training parameter of paralysis patient's distal joint, this training parameter includes movement angle and movement velocity, selects according to described training parameter
Selecting curve movement, described curve movement is position curve, and the distal joint controlling hemiplegic patient's Ipsilateral is done and this position curve one
The rehabilitation exercise caused, and during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to institute
State crucial muscle and carry out corresponding electricity irritation.This passive exercise pattern is applicable to body side and completely loses the trouble of motor capacity
Person.
Combined training pattern: obtain hemiplegic patient and be good for the movement velocity of distal joint of side, angular velocity of satellite motion, largest motion
The electromyographic signal of the crucial muscle at angle and maximum movement speed, and described distal joint, according to this movement velocity and fortune
Dynamic angular velocity obtains the M curve of correspondence, and selects to be applied to hemiplegia according to above-mentioned largest motion angle and maximum movement speed
The additional moment of the distal joint of patient's Ipsilateral, is applied simultaneously to hemiplegic patient's Ipsilateral by above-mentioned M curve and additional moment
In distal joint, this M curve provides power for this distal joint, and this additional moment provides resistance, and hemiplegic patient is by overcoming
This resistance does identical motion with the distal joint of strong side, and the performance power of the crucial muscle at the distal joint of Ipsilateral is not enough
Time, according to above-mentioned electromyographic signal, described crucial muscle is carried out corresponding electricity irritation.This combined training pattern is applicable to health one
Side has the patient of certain autonomic movement ability.
S103, controls to preset the motion of controlled device in virtual scene according to described rehabilitation exercise.
The rehabilitation exercise of the distal joint according to hemiplegic patient's Ipsilateral controls to preset the motion of controlled device in virtual scene,
This default virtual scene can be the fantasy sport scene such as aircraft handling or car steering.When this default virtual scene is that aircraft is driven
When sailing, described control to preset the motion of controlled device in virtual scene according to described rehabilitation exercise and can be:
The concrete direction of aircraft flight is controlled by hemiplegic patient's ankle joint 3 directions of motion in rehabilitation exercise, logical
Cross the grasping of its finger and unclamp the speed of the flight controlling aircraft, particularly as follows:
Back of the body Qu Shangla；Waste time to bend and dive；
The varus right side is turned over；A left side of turning up is turned over；
Inward turning is turned right；Outward turning is turned left；
Grasp and accelerate；Unclamp deceleration.
Virtual reality technology is applied in distal joint rehabilitation training by the present embodiment, allows patient be actively engaged in void
Intend in fortune scene, increasing patient's subjective initiative in rehabilitation training, increasing the interest of rehabilitation training, to realize trip
Play and treatment, psychological guidance and the combination of physiologic therapy, greatly enhance rehabilitation efficacy.
To sum up, the method for a kind of autonomous training of the present embodiment, obtain the kinestate that hemiplegic patient is good for the distal joint of side
The electromyographic signal of the crucial muscle at information and described distal joint, according to described movement state information and described electromyographic signal control
The distal joint of hemiplegic patient's Ipsilateral processed does corresponding rehabilitation exercise, controls to preset quilt in virtual scene according to described rehabilitation exercise
The motion of control object；The movable information control Ipsilateral being good for side according to hemiplegic patient does corresponding rehabilitation exercise, allows patient actively join
With in rehabilitation training, improve the subjective initiative of patient, and increase the interest of rehabilitation training, simple to operate, improve instruction
Practice effect.
Embodiment two
It it is the method flow diagram of second embodiment of method of a kind of autonomous training of the present invention with reference to Fig. 2, Fig. 2.
In a second embodiment, this method independently trained includes:
S201, obtains hemiplegic patient and is good for crucial muscle at the movement state information of distal joint of side and distal joint
Electromyographic signal；
S202, it is judged that autonomous training mode, if described autonomous training mode is active training pattern, enters step S203；
If described autonomous training mode is combined training pattern, enter step S206；If described autonomous training mode is passive exercise mould
Formula, enters step S209.
S203, does according to the distal joint of described movement state information control hemiplegic patient's Ipsilateral and is good for side with hemiplegic patient
The rehabilitation exercise that distal joint is identical；
S204, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to described
Crucial muscle carries out corresponding electricity irritation；
S205, controls to preset the motion of controlled device in virtual scene according to described rehabilitation exercise；
S201～S205 is the method step of autonomous training mode.
S206, applies additional moment to the distal joint of hemiplegic patient's Ipsilateral；
S207, is good for the movement state information of side and the remote of described additional moment control hemiplegic patient's Ipsilateral according to hemiplegic patient
End joint is done and is good for the rehabilitation exercise that the distal joint of side is identical with hemiplegic patient；
S204, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to described
Crucial muscle carries out corresponding electricity irritation；
S208, obtains the information of described rehabilitation exercise, adjusts the value of described additional moment according to described information；
After getting the information of rehabilitation exercise of hemiplegic patient's Ipsilateral, it is compared with the movement state information of key side
Relatively, if discovery Ipsilateral is in the case of applying above-mentioned additional moment, Ipsilateral is unable to reach the kinestate the same with being good for side, now
Can suitably reduce the value of this additional moment, and stimulate the crucial muscle at the distal joint of Ipsilateral, increase sending out of distal joint
Wave power, while promoting the recovery of patients' neural's system, transfer the subjective initiative of patient, strengthen training effect.
S205, controls to preset the motion of controlled device in virtual scene according to described rehabilitation exercise.
S201, S206, S207, S204, S208, S205 is the method step of combined training pattern.
S209, determines the training parameter of hemiplegic patient's distal joint, described training parameter according to described movement state information
Including movement velocity and movement angle；
Get the extreme sport parameter that hemiplegic patient is good for the distal joint of side, such as largest motion angle and largest motion speed
After degree, this extreme sport parameter determination training parameter can be multiplied by according to certain ratio, select to suffer from according to this training parameter
The curve movement of side, can be according to the actual recovery situation of hemiplegic patient, and this ratio of suitable adjustment, as when the trouble of hemiplegic patient
When side possesses certain motor capacity, this ratio of suitable increase, strengthen strengthening training, improve training effect.
S210, selects curve movement according to described training parameter, controls hemiplegic patient's distal joint and does and described motion song
The rehabilitation exercise that line is consistent；
S204, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to described
Crucial muscle carries out corresponding electricity irritation；
S205, controls to preset the motion of controlled device in virtual scene according to described rehabilitation exercise.
S201, S202, S209, S210, S204, S205 are the method step of passive exercise.
To sum up, the method for a kind of autonomous training of the present embodiment, obtain the kinestate that hemiplegic patient is good for the distal joint of side
After the electromyographic signal of the crucial muscle at information and described distal joint, three kinds can be selected not according to the situation of hemiplegic patient
Same autonomous training mode, respectively active training pattern, passive exercise pattern and combined training pattern, with strong points, and root
Control to preset the motion of controlled device in virtual scene according to the rehabilitation exercise of hemiplegic patient；The method is simple and convenient, interesting strong,
Greatly improve the subjective initiative of hemiplegic patient, strengthen the effect of rehabilitation training.
Embodiment three
It it is the block diagram of first embodiment of system of a kind of autonomous training of the present invention with reference to Fig. 3, Fig. 3.
In the third embodiment, this system independently trained includes:
Motion detection apparatus 01, for obtaining the movement state information that hemiplegic patient is good for the distal joint of side；
This motion detection apparatus include detect hemiplegic patient be good for side carpal joint and articulations digitorum manus kinestate data glove and
The motion detection apparatus of detection ankle motion state, this kinestate includes that hemiplegic patient is good for side carpal joint, articulations digitorum manus and ankle
The angular velocity of satellite motion in joint, movement velocity, largest motion angle and maximum movement speed.
Muscle electric detection means EMG02, for obtaining the electromyographic signal of the crucial muscle at distal joint；
Autonomous training module 03, for controlling hemiplegic patient's Ipsilateral according to described movement state information and described electromyographic signal
Distal joint do corresponding rehabilitation exercise；
Virtual module 04, for controlling to preset the motion of controlled device in virtual scene according to described rehabilitation exercise.
To sum up, the system of a kind of autonomous training of the present embodiment, obtain the kinestate that hemiplegic patient is good for the distal joint of side
The electromyographic signal of the crucial muscle at information and described distal joint, according to described movement state information and described electromyographic signal control
The distal joint of hemiplegic patient's Ipsilateral processed does corresponding rehabilitation exercise, controls to preset quilt in virtual scene according to described rehabilitation exercise
The motion of control object；The movable information control Ipsilateral being good for side according to hemiplegic patient does corresponding rehabilitation exercise, allows patient actively join
With in rehabilitation training, improve the subjective initiative of patient, and increase the interest of rehabilitation training, simple to operate, improve instruction
Practice effect.
Embodiment four
It it is the block diagram of second embodiment of system of a kind of autonomous training of the present invention with reference to Fig. 4, Fig. 4.
On the basis of the 3rd embodiment, this system independently trained also includes:
Mode decision module 05, be used for judging autonomous training mode, described autonomous training mode include active training pattern,
Passive exercise pattern and combined training pattern.
On the basis of the 3rd embodiment, above-mentioned autonomous training module 03 includes:
For described mode decision module 05, active training module 031, if judging that described autonomous training mode is as actively instruction
When practicing pattern, control the distal joint of hemiplegic patient's Ipsilateral according to described movement state information and do and be good for the far-end of side with hemiplegic patient
The rehabilitation exercise that joint is identical, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal
Described crucial muscle is carried out corresponding electricity irritation.
Under active training pattern, this system is good for the movement state information of the distal joint of side and is controlled machine according to hemiplegic patient
The motion of tool hands so that the distal joint of Ipsilateral does the rehabilitation exercise identical with the distal joint being good for side, in Ipsilateral distal joint
During the performance power deficiency of crucial muscle at place, Ipsilateral muscle is carried out accordingly by electrical stimulation device FES according to the electromyographic signal being good for side
Electricity irritation.
The motion being good for side by hemiplegic patient drives Ipsilateral to carry out identical rehabilitation exercise, allows hemiplegic patient be actively engaged in
In rehabilitation training, change traditional simple rehabilitation training pattern being driven the motion of hemiplegic patient's Ipsilateral by mechanical hand, enhance partially
The subjective initiative of paralysis patient.
For described mode decision module 05, training parameter acquisition module 032, if judging that described autonomous training mode is quilt
During dynamic training mode, determine the training parameter of hemiplegic patient's distal joint, described training parameter according to described movement state information
Including movement velocity and movement angle；
Passive exercise module 033, for selecting curve movement according to described training parameter, controls hemiplegic patient's distal joint
Do the rehabilitation exercise consistent with described curve movement, during the performance power deficiency of the crucial muscle at described distal joint, according to
Described electromyographic signal carries out corresponding electricity irritation to described crucial muscle.
Additional moment applies module 034, if judging that described autonomous training mode is group for described mode decision module 05
When closing training mode, apply additional moment to the distal joint of hemiplegic patient's Ipsilateral；
Combined training module 035, controls for the movement state information and described additional moment being good for side according to hemiplegic patient
The distal joint of hemiplegic patient's Ipsilateral is done and is good for the rehabilitation exercise that the distal joint of side is identical with hemiplegic patient, in described distal joint
During the performance power deficiency of crucial muscle at place, according to described electromyographic signal, described crucial muscle is carried out corresponding electricity irritation.
Parameter adjustment module 036, for obtaining the information of described rehabilitation exercise, adjusts described additional force according to described information
The value of square.
If the Ipsilateral of hemiplegic patient possesses certain motor capacity, certain additional force can be applied in rehabilitation training
Square, in the case of Ipsilateral cannot bear this additional moment, the crucial muscle at electricity irritation Ipsilateral distal joint, promote nerveous system
The recovery of system, or suitably reduce this additional moment, progressively adjust the value of this additional moment according to the recovery situation of patient, to reach
To more preferable rehabilitation efficacy.
To sum up, the system of a kind of autonomous training of the present embodiment, obtain the kinestate that hemiplegic patient is good for the distal joint of side
After the electromyographic signal of the crucial muscle at information and described distal joint, three kinds can be selected not according to the situation of hemiplegic patient
Same autonomous training mode, respectively active training pattern, passive exercise pattern and combined training pattern, with strong points, and root
Control to preset the motion of controlled device in virtual scene according to the rehabilitation exercise of hemiplegic patient；The method is simple and convenient, interesting strong,
Greatly improve the subjective initiative of hemiplegic patient, improve the effect of rehabilitation training.
The know-why of the present invention is described above in association with specific embodiment.These describe and are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed to by any way.Based on explanation herein, the technology of this area
Personnel need not pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes fall within
Within protection scope of the present invention.
Claims (10)
1. the method for an autonomous training, it is characterised in that including:
Obtain hemiplegic patient and be good for the myoelectricity of the crucial muscle at the movement state information of distal joint of side and described distal joint
Signal；
The distal joint controlling hemiplegic patient's Ipsilateral according to described movement state information and described electromyographic signal does corresponding rehabilitation
Motion；
Control to preset the motion of controlled device in virtual scene according to described rehabilitation exercise.
Method the most according to claim 1, it is characterised in that described distal joint includes that carpal joint, articulations digitorum manus and ankle close
Joint, described movement state information includes movement velocity, angular velocity of satellite motion, largest motion angle and maximum movement speed.
Method the most according to claim 1, it is characterised in that described acquisition hemiplegic patient is good for the motion of the distal joint of side
After the electromyographic signal of the crucial muscle at status information and described distal joint, also include:
Judge that autonomous training mode, described autonomous training mode include active training pattern, passive exercise pattern and combined training
Pattern.
Method the most according to claim 3, it is characterised in that described autonomous training mode is active training mould if judging
Formula, the described distal joint according to described movement state information and described electromyographic signal control hemiplegic patient's Ipsilateral does corresponding health
Multiple motion particularly as follows:
Control the distal joint of hemiplegic patient's Ipsilateral according to described movement state information to do and be good for the distal joint of side with hemiplegic patient
Identical rehabilitation exercise, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to institute
State crucial muscle and carry out corresponding electricity irritation.
Method the most according to claim 3, it is characterised in that described autonomous training mode is passive exercise mould if judging
Formula, described acquisition hemiplegic patient is good for the flesh of the crucial muscle at the movement state information of the distal joint of side and described distal joint
After the signal of telecommunication, also include:
Determine that according to described movement state information the training parameter of hemiplegic patient's distal joint, described training parameter include motion speed
Degree and movement angle；
The described distal joint according to described movement state information and described electromyographic signal control hemiplegic patient's Ipsilateral is done accordingly
Rehabilitation exercise particularly as follows:
Select curve movement according to described training parameter, control hemiplegic patient's distal joint and do the health consistent with described curve movement
Multiple motion, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to described crucial flesh
Meat carries out corresponding electricity irritation.
Method the most according to claim 3, it is characterised in that described autonomous training mode is combined training mould if judging
Formula, described acquisition hemiplegic patient is good for the flesh of the crucial muscle at the movement state information of the distal joint of side and described distal joint
After the signal of telecommunication, also include:
Additional moment is applied to the distal joint of hemiplegic patient's Ipsilateral；
The described distal joint according to described movement state information and described electromyographic signal control hemiplegic patient's Ipsilateral is done accordingly
Rehabilitation exercise particularly as follows:
It is good for the movement state information of side according to hemiplegic patient and described additional moment controls the distal joint of hemiplegic patient's Ipsilateral and does
The rehabilitation exercise that the distal joint of side is identical it is good for hemiplegic patient, the crucial muscle at the distal joint of hemiplegic patient's Ipsilateral
During performance power deficiency, according to described electromyographic signal, described crucial muscle is carried out corresponding electricity irritation；
Obtain the information of described rehabilitation exercise, adjust the value of described additional moment according to described information.
7. the system of an autonomous training, it is characterised in that including:
Motion detection apparatus, for obtaining the movement state information that hemiplegic patient is good for the distal joint of side；
Muscle electric detection means EMG, for obtaining the electromyographic signal of the crucial muscle at distal joint；
Autonomous training module, for controlling the far-end of hemiplegic patient's Ipsilateral according to described movement state information and described electromyographic signal
Corresponding rehabilitation exercise is done in joint；
Virtual module, for controlling to preset the motion of controlled device in virtual scene according to described rehabilitation exercise.
System the most according to claim 7, it is characterised in that also include:
Mode decision module, is used for judging that autonomous training mode, described autonomous training mode include active training pattern, passively instruct
Practice pattern and combined training pattern.
System the most according to claim 8, it is characterised in that described autonomous training module includes:
Active training module, if judging when autonomous training mode is active training pattern for described mode decision module, according to
Described movement state information controls the distal joint of hemiplegic patient's Ipsilateral and does and be good for the health that the distal joint of side is identical with hemiplegic patient
Multiple motion, during the performance power deficiency of the crucial muscle at described distal joint, according to described electromyographic signal to described crucial flesh
Meat carries out corresponding electricity irritation.
System the most according to claim 8, it is characterised in that described autonomous training module includes:
Training parameter acquisition module, if judging when autonomous training mode is passive exercise pattern for described mode decision module,
Determine according to described movement state information the training parameter of hemiplegic patient's distal joint, described training parameter include movement velocity and
Movement angle；
Passive exercise module, for selecting curve movement according to described training parameter, controls hemiplegic patient's distal joint and does and institute
When stating the performance power deficiency of the consistent rehabilitation exercise of curve movement crucial muscle at described distal joint, according to described myoelectricity
Signal carries out corresponding electricity irritation to described crucial muscle；
Additional moment applies module, if judging when autonomous training mode is combined training pattern for described mode decision module,
Additional moment is applied to the distal joint of hemiplegic patient's Ipsilateral；
Combined training module, controls hemiplegic patient for the movement state information and described additional moment being good for side according to hemiplegic patient
The distal joint of Ipsilateral is done and is good for the rehabilitation exercise that the distal joint of side is identical, the key at described distal joint with hemiplegic patient
During the performance power deficiency of muscle, according to described electromyographic signal, described crucial muscle is carried out corresponding electricity irritation；
Parameter adjustment module, for obtaining the information of described rehabilitation exercise, adjusts the value of described additional moment according to described information.
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| PCT/CN2017/092528 WO2018010644A1 (en) | 2016-07-12 | 2017-07-11 | Autonomous training method and system |
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