CN106503430A - A kind of remote rehabilitation system and its detection method for rehabilitation training of upper limbs - Google Patents
A kind of remote rehabilitation system and its detection method for rehabilitation training of upper limbs Download PDFInfo
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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
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
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Abstract
The present invention relates to a kind of remote rehabilitation system and its detection method for rehabilitation training of upper limbs, including signal acquisition testing device, receiving and processing equipment, server and feedback guidance processing equipment, the signal output part of signal acquisition testing device is connected with the input of receiving and processing equipment, the output end of the receiving and processing equipment is connected with the input of server by network signal, the output end of the server is connected with the input of receiving and processing equipment by network signal, the output end of the feedback guidance processing equipment is connected with signal acquisition process equipment by server, and can detect whether patient is carrying out rehabilitation training by detection.The present invention can be detected to the action that patient is doing rehabilitation training, whether rehabilitation training is belonged to, simultaneously can also be by obtained data by server transport feedback guidance processing equipment, allow and instruct personnel to see whether patient is in the state of rehabilitation, the time of the effectively save patient of energy, and convenient and swift.
Description
Technical field
The present invention relates to a kind of remote rehabilitation system for rehabilitation training of upper limbs, more particularly to a kind of for upper limb healing
The remote rehabilitation system of training and its detection method.
Background technology
At present in the inspection to patient's upper limb healing, being required to patient carries out further consultation to the hospital for specifying, and for trouble
For person further consultation need spend longer time, and need continual carry out further consultation to hospital, which results in patient
The inconvenience on further consultation road is being gone, the difficulty of trip is being increased, and is taken substantial amounts of time and manpower.Patient also can simultaneously
Forget the instrucion of doctor, it is impossible to very accurately the suggestion carried by doctor is operated, be drawback for patient.And now
Hospital is overstaffed, and doctor can not accomplish exhaustive, cause the rehabilitation speed for having influence on patient.
In view of above-mentioned defect, the design people, positive research and innovation in addition, to founding a kind of being used for for new structure
The remote rehabilitation system of rehabilitation training of upper limbs and its detection method so as to more the value in industry.
Content of the invention
For solving above-mentioned technical problem, it is an object of the invention to provide a kind of remote rehabilitation system for rehabilitation training of upper limbs
System and its detection method.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of remote rehabilitation system for rehabilitation training of upper limbs, including signal acquisition testing device, receiving and processing equipment,
Server and feedback guidance processing equipment, the signal output part of the signal acquisition testing device and the input of receiving and processing equipment
End is connected, and the output end of the receiving and processing equipment is connected with the input of server by network signal, the server
Output end is connected with the input of feedback guidance processing equipment by network signal, the output end of the feedback guidance processing equipment
It is connected with receiving and processing equipment by server；The signal acquisition testing device includes IMU sensors, signal picker, letter
Number transmitter, signal receiver, signal processor and data saver, the output end of the IMU sensors and signal picker
Input be connected, the output end of the signal picker is connected with the input of signal receiver by signal transmission device, institute
State the output end of signal receiver to be connected with the input of signal processor, the output end of the signal processor is preserved with data
The input of device is connected, and the output end of the data saver is connected with the input of receiving and processing equipment.
Further, the described remote rehabilitation system for rehabilitation training of upper limbs, wherein, the IMU sensors include
The accelerometer of three single shafts, for the acceleration signal of detection object independent three axles in carrier coordinate, and three single shafts
Gyroscope, for detecting angular velocity signal of the carrier relative to navigational coordinate system, wherein, each described accelerometer and gyroscope
It is independent individual arrangement.
Further, the described remote rehabilitation system for rehabilitation training of upper limbs, wherein, the receiving and processing equipment
It is equipped with the panel computer for coordinating signal acquisition testing device software.
Further, the described remote rehabilitation system for rehabilitation training of upper limbs, wherein, the server includes counting
According to receiver, database, data processor and data logger, the input of the data sink is set with signal acquisition process
Standby output end is connected, and the output end of the data sink is connected with the input of database, the output end of the database
It is connected with the input of data processor, the output end of the data processor is connected with the input of data logger, described
The output end of data logger is connected with the input of feedback guidance processing equipment.
Again further, the described remote rehabilitation system for rehabilitation training of upper limbs, wherein, at the feedback guidance
PC of the reason equipment for signal acquisition testing device software, or be to set equipped with the Mobile solution for coordinating patient's detection means software
Standby, and be engaged with receiving and processing equipment.
Again further, the described remote rehabilitation system for rehabilitation training of upper limbs, wherein, the signal transmission device
For bluetooth module, or it is wireless module.
A kind of detection method of remote rehabilitation system rehabilitation training of upper limbs, comprises the following steps：
Step 1：Patient is worn on signal acquisition testing device on detected upper limbs；
Step 2：Signal acquisition testing device according to gyroscope in which current angular velocity value Wi detecting patient's upper limbs
Motion, judges whether to have begun to do rehabilitation training with this；
Step 2 '：When current angular velocity value Wi is kept in motion, i.e., value S0 is motion state to motion state instantly, detects
The state of value S-1 before the motion state before S0；
If S-1 is kept in motion, the circulation of next rehabilitation training is waited；
If S-1 remains static, signal acquisition testing device detects patient and has begun to action, and is owned
Data be designated as A1, and the time T that record current time T, i.e. S0 start in A1 records current quaternary number q, and it is fast work as anterior angle
Angle value Wi is stored, and finally waits the circulation of next rehabilitation training；
Step 2 "：When current angular velocity value Wi remains static, i.e., value S0 is inactive state to dynamic state now instantly,
The state of detection value S-1 before the motion state before S0,
If S-1 remains static, the circulation of next rehabilitation training is waited；
If S-1 is kept in motion, the data that signal acquisition testing device is detected are designated as A2, and by according to A1
Record data, calculates operating frequency f and operating angle g；
According to the data of A1, operating frequency f is calculated, after frequency is more than designated value, be defined as high frequency noise, terminate
And wait the circulation of next rehabilitation training；
After frequency is less than designated value, according to data calculating action angle g of A1, after operating angle is less than designated value,
The small size body swing of non-rehabilitation training is confirmed as, terminates and wait the circulation of next rehabilitation training, when operating angle is more than finger
After definite value, rehabilitation exercise motion is confirmed as, record all Wi of current action, automatic clear after rehabilitation release, finally
Wait the circulation of next rehabilitation training；
Wherein, f=1/ (T2-T1), g=function (q1, q2),
T1, q1 are the data for detecting the record after action starts；
T2, q2 terminate for current action, the data recorded after being judged.
Further, the detection method of described remote rehabilitation system rehabilitation training of upper limbs, wherein, in patient by letter
After the completion of data are gathered by number collecting and detecting device, by its internal signal transmission device by its data transfer to reception processing
On equipment；
Take up the ball data to be transmitted through the network in server；
Server data transport is to feedback guidance processing equipment；
Feedback guidance processing equipment judged according to the data after obtaining, then again to judgement after result by service
Device will be transmitted to, on receiving and processing equipment, finally know final result by patient.
Further, the detection method of described remote rehabilitation system rehabilitation training of upper limbs, wherein, the receiving area
Reason equipment interaction is connected to feedback guidance processing equipment.
Further, the detection method of described remote rehabilitation system rehabilitation training of upper limbs, wherein, the signal is adopted
Collection detection means is detected with the frequency of 30 times per second.
By such scheme, the present invention at least has advantages below：
By signal acquisition testing device, the present invention can detect whether patient is doing rehabilitation training, the result essence which detects
Exactness is high, while also by the cooperation between receiving and processing equipment, server and feedback guidance processing equipment, can realize patient
Communication between teacher of the guidance, facilitates the interaction between patient and teacher of the guidance, reduces the situation of the trip inconvenience of patient, also helps
In the high efficiency of teacher of guidance's work, while conventional data can also be found, the conveniently operation of teacher of the guidance, there is provided reference data.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by to be used attached needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the internal structure schematic diagram of signal acquisition testing device in the present invention；
Fig. 3 is the workflow schematic diagram detected in the present invention；
Fig. 4 is Bobath dohandshake actions post analysis schematic diagram of the present invention；
Fig. 5 is to receive post analysis schematic diagram in PNF of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Hereinafter implement
Example is for illustrating the present invention, but is not limited to the scope of the present invention.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with attached in the embodiment of the present invention
Figure, to the embodiment of the present invention in technical scheme be clearly and completely described, it is clear that described embodiment be only this
Invent a part of embodiment, rather than whole embodiments.The embodiment of the present invention generally described and illustrated in accompanying drawing herein
Component can be with a variety of configurations arranging and design.Therefore, the enforcement of the present invention below to providing in the accompanying drawings
The detailed description of example is not intended to limit the scope of claimed invention, but is merely representative of the selected enforcement of the present invention
Example.Embodiments of the invention are based on, it is all that those skilled in the art are obtained on the premise of creative work is not made
Other embodiment, belongs to the scope of protection of the invention.
Embodiment
As shown in Figure 1 and Figure 2, a kind of remote rehabilitation system for rehabilitation training of upper limbs, including signal acquisition testing device
1st, receiving and processing equipment 2, server 3 and feedback guidance processing equipment 4, the signal output part of the signal acquisition testing device 1
It is connected with the input of receiving and processing equipment 2, the output end of the receiving and processing equipment 2 is by network signal and server 3
Input is connected, and the output end of the server 3 is connected with the input of feedback guidance processing equipment 4 by network signal, institute
The output end for stating feedback guidance processing equipment 4 is connected with receiving and processing equipment 2 by server 3；
The signal acquisition testing device includes that IMU sensors 11, signal picker 12, signal transmission device 13, signal connect
Receive device 14, signal processor 15 and data saver 16, the output end of the IMU sensors 11 and the input of signal picker 12
End is connected, and the output end of the signal picker 12 is connected with the input of signal receiver 14 by signal transmission device 13, institute
The output end for stating signal receiver 14 is connected with the input of signal processor 15, the output end of the signal processor 15 and number
It is connected according to the input of conservator 16, the output end of the data saver 16 is connected with the input of receiving and processing equipment 2.Logical
Cross signal acquisition testing device detection data, and also by with receiving and processing equipment, server and feedback guidance processing equipment
Between cooperation, the communication between patient and teacher of the guidance can be realized, facilitate the interaction between patient and teacher of the guidance, reduce patient's
The situation of trip inconvenience, it helps the high efficiency of teacher of guidance's work.
Heretofore described IMU sensors 11 include the accelerometer of three single shafts, for detection object in carrier coordinate
The acceleration signal of three axle of middle independence, and the gyroscope of three single shafts, for detecting angle speed of the carrier relative to navigational coordinate system
Degree signal, wherein, each described accelerometer and gyroscope are independent individual arrangement, improve accuracy.
Heretofore described receiving and processing equipment 2 is equipped with the panel computer for coordinating signal acquisition testing device software.
PC of the heretofore described feedback guidance processing equipment 4 for signal acquisition testing device software, or be equipped with cooperation
Mobile solution equipment of the patient with detection means software, and be engaged with receiving and processing equipment 2.
Heretofore described signal transmission device 13 is bluetooth module, or is wireless module, is selected according to needs.
Heretofore described server 3 includes data sink, database, data processor and data logger, described
The input of data sink is connected with the output end of signal acquisition process equipment, the output end and data of the data sink
The input in storehouse is connected, and the output end of the database is connected with the input of data processor, the data processor defeated
Go out end to be connected with the input of data logger, the input of the output end of the data logger and feedback guidance processing equipment
It is connected.
As shown in figure 3, a kind of detection method of remote rehabilitation system rehabilitation training of upper limbs, comprises the following steps：
Step 1：Patient is worn on signal acquisition testing device on detected upper limbs；
Step 2：Signal acquisition testing device according to gyroscope in which current angular velocity value Wi detecting patient's upper limbs
Motion, judges whether to have begun to do rehabilitation training with this；
Step 2 '：When current angular velocity value Wi is kept in motion, i.e., value S0 is motion state to motion state instantly, detects
The state of value S-1 before the motion state before S0；
If S-1 is kept in motion, the circulation of next rehabilitation training is waited；
If S-1 remains static, signal acquisition testing device detects patient and has begun to action, and is owned
Data be designated as A1, and the time T that record current time T, i.e. S0 start in A1 records current quaternary number q, and it is fast work as anterior angle
Angle value Wi is stored, and finally waits the circulation of next rehabilitation training；
Step 2 "：When current angular velocity value Wi remains static, i.e., value S0 is inactive state to dynamic state now instantly,
The state of detection value S-1 before the motion state before S0,
If S-1 remains static, the circulation of next rehabilitation training is waited；
If S-1 is kept in motion, the data that signal acquisition testing device is detected are designated as A2, and by according to A1
Record data, calculates operating frequency f and operating angle g；
According to the data of A1, operating frequency f is calculated, after frequency is more than designated value, be defined as high frequency noise, terminate
And wait the circulation of next rehabilitation training；
After frequency is less than designated value, according to data calculating action angle g of A1, after operating angle is less than designated value,
The small size body swing of non-rehabilitation training is confirmed as, terminates and wait the circulation of next rehabilitation training, when operating angle is more than finger
After definite value, rehabilitation exercise motion is confirmed as, record all Wi of current action, automatic clear after rehabilitation release, finally
Wait the circulation of next rehabilitation training；
Wherein, f=1/ (T2-T1), g=function (q1, q2),
T1, q1 are the data for detecting the record after action starts；
T2, q2 terminate for current action, the data recorded after being judged；
After the completion of data are gathered by patient by signal acquisition testing device, will by its internal signal transmission device
Its data transfer is to receiving and processing equipment；
Take up the ball data to be transmitted through the network in server；
Server data transport is to feedback guidance processing equipment；
Feedback guidance processing equipment judged according to the data after obtaining, then again to judgement after result by service
Device will be transmitted to, on receiving and processing equipment, finally know final result by patient.
Wherein, heretofore described signal acquisition testing device is detected with the frequency of 30 times per second.
Embodiment 1
2 interaction of heretofore described receiving and processing equipment is connected to feedback guidance processing equipment 4, thus, such as institute in Fig. 1
Show, the data that feedback guidance processing equipment 4 is transmitted according to receiving and processing equipment 2, can be referred to for the state of Rehabilitation
Lead, by exercise prescription 31 by its information transfer to server, the prescription that teacher of the guidance makes is backed up by server so as to
Can have something to base on, then the exercise prescription 31 is being transmitted to receiving and processing equipment 2 by server, allowing patient according to guidance
The new exercise prescription of teacher carries out the rehabilitation training of next stage.
And server can by patient before training data output single 33 transmit to receiving and processing equipment 2, convenient
Patient is contrasted for past rehabilitation training.
The skilled data of past institute can also be contrasted by server simultaneously, and training result table is transmitted to feedback guidance
In processing equipment 4, conveniently teacher of the guidance sees result, then can do further rehabilitation training to patient.
Receiving and processing equipment 2 and feedback guidance processing equipment 4 can facilitate patient and guidance with interactive chat between the two
Direct communication between teacher.
Embodiment 2
Determination methods are as follows：
1st, operating frequency f=1/ (T2-T1), if f is judged to noise, is not rehabilitation exercise motion more than 1Hz；
2nd, operating angle g=function (q1, q2), g are the angle change value from q1 to q2, if g is less than 50 degree,
It is judged to non-rehabilitation exercise motion, whereas if operating frequency f is less than 1Hz, and operating angle g is then judged to more than 50 degree
Rehabilitation exercise motion.
Embodiment 3
As shown in figure 4, Bobath dohandshake actions：Both hands finger intersects, and patient's finger is placed on healthy finger, fully profit
Ipsilateral arm, elbow joint is driven to be fully extended with the arm of health.
The track moved by different IMU sensors is represented by X-axis, Y-axis and Z axis in Fig. 4, and is used as shown in Figure 4
The numerical value of arbitrary axle can execution detection.Situation by the rehabilitation for detecting patient of equipment energy.
Embodiment 4
As shown in figure 5, receiving in PNF：The angular speed variation diagram of shoulder abduction action.X-axis, Y-axis and Z axis represent IMU
The track moved by sensor.And in the Fig. 5, it is clear that Y-axis and Z axis can not reach wanting for above-mentioned formula
Ask, it is impossible to meet Rehabilitation training, and only have the numerical value of X-axis meet Rehabilitation training in Figure 5, can be with execution
Detection.
By the above embodiments 3 and embodiment 4 it is known that no matter this is to patient's any one rehabilitation training, the equipment
Always there are a kind of data to support the rehabilitation training, such that it is able to feed back to patient and information about doctor well, so as to help patient
Make an appointment with Doctors' Day.
By signal acquisition testing device, the present invention can detect whether patient is doing rehabilitation training, the result essence which detects
Exactness is high, while also by the cooperation between receiving and processing equipment, server and feedback guidance processing equipment, can realize patient
Communication between teacher of the guidance, facilitates the interaction between patient and teacher of the guidance, reduces the situation of the trip inconvenience of patient, also helps
In the high efficiency of teacher of guidance's work, while conventional data can also be found, the conveniently operation of teacher of the guidance, there is provided reference data.
The above is only the preferred embodiment of the present invention, is not limited to the present invention, it is noted that for this skill
For the those of ordinary skill in art field, on the premise of without departing from the technology of the present invention principle, can also make some improvement and
Modification, these improvement and modification also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of remote rehabilitation system for rehabilitation training of upper limbs, it is characterised in that：Including signal acquisition testing device, reception
Processing equipment, server and feedback guidance processing equipment, the signal output part of the signal acquisition testing device and reception processing
The input of equipment is connected, and the output end of the receiving and processing equipment is connected with the input of server by network signal, institute
The output end for stating server is connected with the input of feedback guidance processing equipment by network signal, and the feedback guidance is processed and set
Standby output end is connected with receiving and processing equipment by server；
The signal acquisition testing device is included at IMU sensors, signal picker, signal transmission device, signal receiver, signal
Reason device and data saver, the output end of IMU sensors are connected with the input of signal picker, the signal picker
Output end be connected with the input of signal receiver by signal transmission device, at the output end of the signal receiver and signal
The input of reason device is connected, and the output end of the signal processor is connected with the input of data saver, and the data are preserved
The output end of device is connected with the input of receiving and processing equipment.
2. the remote rehabilitation system for rehabilitation training of upper limbs according to claim 1, it is characterised in that：The IMU is passed
Sensor includes the accelerometer of three single shafts, for the acceleration signal of detection object independent three axles in carrier coordinate, and three
The gyroscope of individual single shaft, for detecting angular velocity signal of the carrier relative to navigational coordinate system, wherein, each described accelerometer
Independent individual arrangement is with gyroscope.
3. the remote rehabilitation system for rehabilitation training of upper limbs according to claim 1, it is characterised in that：The receiving area
Reason equipment is equipped with the panel computer for coordinating signal acquisition testing device software.
4. the remote rehabilitation system for rehabilitation training of upper limbs according to claim 1, it is characterised in that：The server
Including data sink, database, data processor and data logger, the input of the data sink and signals collecting
The output end of processing equipment is connected, and the output end of the data sink is connected with the input of database, the database
Output end is connected with the input of data processor, the input phase of the output end of the data processor and data logger
Even, the output end of the data logger is connected with the input of feedback guidance processing equipment.
5. the remote rehabilitation system for rehabilitation training of upper limbs according to claim 1, it is characterised in that：The feedback refers to
The PC that processing equipment is signal acquisition testing device software is led, or is equipped with the Mobile solution for coordinating patient's detection means software
Equipment, and be engaged with receiving and processing equipment.
6. the remote rehabilitation system for rehabilitation training of upper limbs according to claim 1, it is characterised in that：The signal is passed
Defeated device is bluetooth module, or is wireless module.
7. a kind of detection method of remote rehabilitation system rehabilitation training of upper limbs, it is characterised in that comprise the following steps：
Step 1：Patient is worn on signal acquisition testing device on detected upper limbs；
Step 2：Signal acquisition testing device according to gyroscope in which current angular velocity value Wi detecting the motion of patient's upper limbs,
Judge whether to have begun to do rehabilitation training with this；
Step 2 '：When current angular velocity value Wi is kept in motion, i.e., value S0 is motion state to motion state instantly, detects in S0
The state of value S-1 before motion state before；
If S-1 is kept in motion, the circulation of next rehabilitation training is waited；
If S-1 remains static, signal acquisition testing device detects patient and has begun to action, and by its all of number
According to being designated as A1, and the time T that record current time T, i.e. S0 start in A1, current quaternary number q is recorded, and by current angular velocity value
Wi is stored, and finally waits the circulation of next rehabilitation training；
Step 2 "：When current angular velocity value Wi remains static, i.e., value S0 is inactive state to dynamic state now instantly, detects
The state of value S-1 before the motion state before S0,
If S-1 remains static, the circulation of next rehabilitation training is waited；
If S-1 is kept in motion, the data that signal acquisition testing device is detected are designated as A2, and by recording according to A1
Data, calculate operating frequency f and operating angle g；
According to the data of A1, operating frequency f is calculated, after frequency is more than designated value, is defined as high frequency noise, terminates and wait
Treat the circulation of next rehabilitation training；
After frequency is less than designated value, according to data calculating action angle g of A1, after operating angle is less than designated value, confirm
For the small size body swing of non-rehabilitation training, terminate and wait the circulation of next rehabilitation training, when operating angle is more than designated value
Afterwards, rehabilitation exercise motion is confirmed as, all Wi of current action are recorded, automatic clear after rehabilitation release is finally waited
The circulation of next rehabilitation training；
Wherein, f=1/ (T2-T1), g=function (q1, q2),
T1, q1 are the data for detecting the record after action starts；
T2, q2 terminate for current action, the data recorded after being judged.
8. the detection method of remote rehabilitation system rehabilitation training of upper limbs according to claim 7, it is characterised in that：Suffering from
After the completion of data are gathered by person by signal acquisition testing device, by its internal signal transmission device by its data transfer extremely
On receiving and processing equipment；
Take up the ball data to be transmitted through the network in server；
Server data transport is to feedback guidance processing equipment；
Feedback guidance processing equipment judged according to the data after obtaining, then again to judgement after result by server general
Transmit to receiving and processing equipment, final result is known by patient finally.
9. the detection method of remote rehabilitation system rehabilitation training of upper limbs according to claim 8, it is characterised in that：Described
Receiving and processing equipment interaction is connected to feedback guidance processing equipment.
10. the detection method of remote rehabilitation system rehabilitation training of upper limbs according to claim 7, it is characterised in that：Institute
State signal acquisition testing device to be detected with the frequency of 30 times per second.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610902224.0A CN106503430A (en) | 2016-10-17 | 2016-10-17 | A kind of remote rehabilitation system and its detection method for rehabilitation training of upper limbs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610902224.0A CN106503430A (en) | 2016-10-17 | 2016-10-17 | A kind of remote rehabilitation system and its detection method for rehabilitation training of upper limbs |
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| CN110335658A (en) * | 2019-07-16 | 2019-10-15 | 河南理工大学 | A kind of rehabilitation training system and recovery training method based on IMU technology |
| CN110890148A (en) * | 2019-12-19 | 2020-03-17 | 上海金矢机器人科技有限公司 | Safety protection system and method based on rehabilitation training device |
| CN111798995A (en) * | 2020-06-28 | 2020-10-20 | 四川大学 | OpenPose algorithm-based postoperative rehabilitation method and data acquisition device support thereof |
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Address after: Taicang City, Suzhou City, Jiangsu Province, and 215411 Metro Jianxiong Road No. 20 Applicant after: Suzhou Mai Ji Medical Technology Co., Ltd. Address before: Taicang City, Suzhou City, Jiangsu Province, and 215000 Metro Jianxiong Road No. 20 Applicant before: JIANGSU SIWEISEN NETWORK TECHNOLOGY CO., LTD. |
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Application publication date: 20170315 |