CN106779045A - Rehabilitation training robot system and its application method based on virtual scene interaction - Google Patents
Rehabilitation training robot system and its application method based on virtual scene interaction Download PDFInfo
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- G—PHYSICS
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- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/004—Artificial life, i.e. computing arrangements simulating life
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- 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
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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
- A63B23/03575—Apparatus used for exercising upper and lower limbs simultaneously
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- 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
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Abstract
The present invention discloses a kind of rehabilitation training robot system based on virtual scene interaction and its application method, including virtual interacting scene module, visual information acquisition module, physiological parameter acquisition module, power measurement module, monitoring module, the part such as directive generation module and recovery exercising robot, monitoring module is with interface display physiological parameter acquisition module, information that power measurement module is measured and the motion state of recovery exercising robot output are simultaneously sent to directive generation module, directive generation module generates control instruction and beams back above-mentioned two module respectively according to the information that monitoring module and virtual interacting scene module are provided, recovery exercising robot is responsible for realizing that patient is drawn under force feedback output and the passive rehabilitation training situation under initiative rehabilitation situation carries out rehabilitation training.The present invention can for recovery exercising robot provide one in real time, it is friendly, with vision, the sense of hearing, many perceptible feedbacks of tactile virtual scene interaction system, patient's rehabilitation training on one's own initiative can be encouraged.
Description
Technical field
The present invention relates to a kind of recovery exercising robot technology, and in particular to a kind of rehabilitation instruction based on virtual scene interaction
Practice robot system and its application method.
Background technology
Recovery exercising robot has turned into rehabilitation engineering and robot field's study hotspot interdisciplinary, and with section
The progress of skill, the recovery exercising robot of unitary function can not meet various needs of growing rehabilitation training, work(
Rehabilitation training robot system that can be more powerful has turned into the new developing direction of healing robot.Robot-aided training conduct
A kind of intelligent Rehabilitation Treatment Technique in the ascendant, obtains the most attention of each developed country nearly ten years.
Recovery exercising robot not only can by Physical Therapist from doctors and patients are one-to-one in addition many-to-one heavy rehabilitation course in
Free, and can be to pacifying because of the obstacle of limb movement patient that cerebral apoplexy (apoplexy) and spinal cord injury etc. cause
Complete reliable, self adaptation and rehabilitation training with strong points, more science can be provided by quantitative exercise, real-time monitoring for patient
Rehabilitation training pattern, athletic rehabilitation therapy is tried out by automating rehabilitation equipment, at the same by virtual reality technology with
Robot technology is combined, and by the feedback of the information of multichannel, excitation paralytic realizes the rehabilitation training of active, for improving
The Quality of rehabilitation of obstacle of limb movement patient, the rehabilitation early for promoting patient, mitigation burden on society are significant.
However, most in existing recovery training appliance for recovery robot system lack scene interaction capabilities, it is unfavorable for that patient is positive
Put into rehabilitation training on one's own initiative, and in having a rehabilitation training robot system that scene is interacted, majority is only for rehabilitation training machine
People itself has carried out simple interaction design, and interactive system sets because the reasons such as information capture are highly dependent on own hardware system
Meter, and each interactive system is for hardware requirement and differs, and causes its transplantability and expansion excessively poor, meanwhile, in order to adopt
Collect human body movable information, generally require to allow patient to wear many sensor devices, in turn result in patient psychology contradict and
It is uncomfortable.It is not enough to bring patient true to nature heavy only with the existing rehabilitation training robot system of vision and the sense of hearing in interaction
Leaching sense and interactive experience, so that it cannot preferably excitation patient carries out the rehabilitation training of active.
The content of the invention
Goal of the invention：It is an object of the invention to solve the deficiencies in the prior art, there is provided one kind is based on virtual field
The rehabilitation training robot system and its application method of scape interaction.
Technical scheme：A kind of rehabilitation training robot system based on virtual scene interaction of the present invention, including void
Intend interaction scenarios module, visual information acquisition module, physiological parameter acquisition module, power measurement module, monitoring module, instruction
Generation module and recovery exercising robot, wherein, for patient provides, real-time vision and the sense of hearing are interacted virtual interacting scene module；
Visual information acquisition module by camera Real-time Collection patient body-sensing information and as the input of virtual interacting scene module；It is raw
Reason parameter collection module realizes the real-time physiological information gathering in Rehabilitation training process；Power measurement module is responsible for detecting patient
It is each to active force between recovery exercising robot in rehabilitation training；The whole rehabilitation instruction of monitoring module monitor in real time
Practice process, while being responsible for collecting the effect that the physiological parameter, power measurement module that physiological parameter acquisition module collects are measured
The motion state of power and recovery exercising robot is simultaneously shown with friendly human-computer interaction interface；Directive generation module by doctor or
What the information or virtual interacting scene module that the decision-making software based on expert system development is provided according to monitoring module were provided
Virtual scene interaction information generate virtual interacting scene module and recovery exercising robot in time needed for control instruction, and possess
The defencive functions such as brake hard instruction issue；Recovery exercising robot be responsible for realizing under initiative rehabilitation situation force feedback output and
Patient is drawn under passive rehabilitation training situation carries out rehabilitation training.
Further, the virtual interacting scene module is suitable according to patient's independent desire or Rehabilitation condition selecting
Scene, be provided with virtual protocol in virtual interacting scene, can be with the action of real-time response patient, virtual interacting scene module root
The Rehabilitation training body-sensing information gathered according to visual information acquisition module makes real-time interaction response, calculates and export void
Intend the active force relation between agency and virtual environment, including the virtual force information of collision detection of virtual protocol gives finger in virtual environment
Generation module is made, the reference needed for providing the instruction of force feedback as generation recovery exercising robot, it is possible to receive instruction life
The scene sent into module or interactive mode conversion instruction.
Further, the visual information acquisition module gathers the body-sensing information of patient using Kinect cameras, then
Virtual interacting scene module is sent it to by communication connection.
Further, the physiological parameter acquisition module is worn on patient, gathers the physiological parameter of patient, and will be raw
Reason supplemental characteristic is sent to monitoring module by radio communication.
Further, the power measurement module includes that force cell and amplification interface circuit (can also may be used with existing
With self-designed, there is no particular/special requirement), the active force between patient and recovery exercising robot is measured in real time, and will be made
Monitoring module is sent to by radio communication with force information.
Further, the monitoring module collect (mean that this module is received and shows many information here) and
The motion state of display physiological parameter, force data and recovery exercising robot, the whole rehabilitation training of monitor in real time
Process, and gained information is sent to directive generation module.
Further, the directive generation module is provided according to monitoring module information or virtual interacting scene module
The virtual scene interaction information of offer, by doctor or the decision-making software based on expert system development generates virtual interacting scene in time
Control instruction needed for module and recovery exercising robot, and possess brake hard instruction issuing function.
Further, the recovery exercising robot realizes the force feedback output under initiative rehabilitation situation and passive rehabilitation instruction
Traction patient carries out rehabilitation training under practicing situation, and exports the motion state of recovery exercising robot.
The invention also discloses a kind of application method of the rehabilitation training robot system of virtual scene interaction, specifically include
Following steps：
Step 1：The proper use of recovery exercising robot of patient simultaneously wears physiological parameter acquisition module, physiological parameter acquisition mould
Block and visual information acquisition module Real-time Collection physiological parameter and body-sensing information simultaneously send it to void by communication connection
Intend interaction scenarios module；
Step 2：After virtual interacting scene module receives the information that visual information acquisition module sends, real-time update is virtually handed over
Mutual scene, there is provided while real-time vision and the sense of hearing are interacted, calculates the active force relation between virtual protocol and virtual environment, hair
Directive generation module is given, the reference needed for providing the instruction of force feedback as generation recovery exercising robot；
Step 3：Patient carries out rehabilitation training model selection；
(1) if selection carries out the rehabilitation training pattern of active, recovery exercising robot receives directive generation module information,
Feedback force is exported in real time；
(2) if selection carries out passive rehabilitation training pattern, recovery exercising robot draws patient according to trajectory planning
Carry out rehabilitation training；
Step 4：Recovery exercising robot exports its motion state, and power measurement module is suffered from measuring rehabilitation training in real time
Each to active force between person and recovery exercising robot, physiological parameter acquisition module is realized real-time in Rehabilitation training process
Physiology information detecting, three's data are sent to monitoring module by radio communication；
Step 5：The output of monitoring module reception measurement module, physiological parameter acquisition module and recovery exercising robot
Information, collect and show with friendly human-computer interaction interface, the whole rehabilitation training of monitor in real time, and by gained information hair
Give directive generation module；
Step 6：Decision-making software comprehensive state monitoring module of the directive generation module by doctor or based on expert system development,
The information that virtual interacting scene module sends, the control needed for generating virtual interacting scene module and recovery exercising robot in time
Instruction, and it is sent respectively to virtual interacting scene module and recovery exercising robot；
Step 7：Once training terminates, and recovery exercising robot returns initial position, and each module from service is simultaneously powered off, and suffers from
Person unloads physiological parameter acquisition module.
Beneficial effect：Compared with prior art, the present invention has advantages below：
(1), using the generation of real-time information capture, transmission and control instruction and issue, control process is continuous, stream for the present invention
Freely, man-machine interaction is timely, friendly, and system can realize stabilization, the rehabilitation training of safety；
(2) present invention uses modular mentality of designing, on the basis of existing rehabilitation training needs are analyzed, devises phase
Module is closed, and the body-sensing information of patient is gathered as the input signal of system using visible sensation method so that the system not only has
The autgmentability of itself, also allows that the present invention is used on more existing recovery exercising robots, can be easily
Correlation function is extended by rehabilitation training robot system of very low improvement cost；
(3) in the present invention in Rehabilitation training process can real-time reception to many sensory feedbacks：Vision, the sense of hearing and power tactile
Deng compared to most of healing robots, the haptic device for being added can allow in Rehabilitation training process and improve virtual friendship
Mutual feeling of immersion, sense of reality experience, man-machine interaction mode is friendly, various, and patient can be stimulated to carry out the rehabilitation training of active, improves
Rehabilitation training efficiency, strengthens rehabilitation training effect；
(4) the various relevant parameters monitoring in the achievable Rehabilitation training process of the present invention, can carry out it is safe and reliable, from
Adaptation and rehabilitation training with strong points, can be instructed by quantitative exercise, real-time monitoring for the rehabilitation that patient provide more science
Practice pattern, athletic rehabilitation therapy is tried out by automating rehabilitation equipment, and ensure that Rehabilitation training process
The implementation of security strategy.
In sum, the present invention uses modularized design, is input into using vision collecting patient's body-sensing information as system, no
Recovery exercising robot hardware design is depended on, different recovery exercising robots are can be applied to, autgmentability and application are strong；Simultaneously
Containing vision, the sense of hearing, haptic device and physiological parameter feedback as instruction generation reference, and condition monitoring and instruction hair
Cloth module carries out real-time update monitoring；It is more convenient effectively interesting.
Brief description of the drawings
Fig. 1 is system architecture diagram of the invention；
Fig. 2 is usage scenario schematic diagram of the invention；
Fig. 3 is a scene sectional drawing in virtual interacting scene module in the present invention.
Specific embodiment
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
As shown in figure 1, the invention discloses a kind of rehabilitation training robot system based on virtual scene interaction, including void
Intend interaction scenarios module 6, visual information acquisition module 1, physiological parameter acquisition module 8, power measurement module 4, monitoring module
7th, directive generation module 2 and recovery exercising robot 5, wherein：Virtual interacting scene module 6 provides real-time vision for patient 9
With the sense of hearing interaction, visual information acquisition module 1 by camera Real-time Collection patient 9 body-sensing information and as virtual interacting scene
The input of module 6, physiological parameter acquisition module 8 realizes the real-time physiological information gathering in the rehabilitation training of patient 9, power measurement
It is each to active force, condition monitoring mould between recovery exercising robot 5 in the responsible detection rehabilitation training of patient 9 of module 4
The whole rehabilitation training of the monitor in real time of block 7, while being responsible for collecting the physiology of patient 9 ginseng that physiological parameter acquisition module 8 is collected
Number, the motion state of the active force that power measurement module 4 is measured and recovery exercising robot 5 and with friendly human-computer interaction interface
It has been shown that, the letter that decision-making software of the directive generation module 2 by doctor or based on expert system development is provided according to monitoring module 7
The virtual scene interaction information that breath or virtual interacting scene module 6 are provided generates virtual interacting scene module 6 and rehabilitation instruction in time
Control instruction needed for practicing robot 5, and possess the defencive functions such as brake hard instruction issue, recovery exercising robot 5 is responsible for
Traction patient 9 carries out rehabilitation training under realizing the force feedback output under initiative rehabilitation situation and passive rehabilitation training situation.
Virtual interacting scene module 6 uses C# language and Unity3D game engines, and exploitation has various gradual, targets to lead
To type scene, can be according to the independent desire of patient 9 or the suitable scene of Rehabilitation condition selecting, in virtual interacting scene
Virtual protocol is provided with, can be with the action of real-time response patient, according to the rehabilitation of patient 9 instruction that visual information acquisition module 1 is gathered
Practice body-sensing information and make real-time interaction response, can calculate and export the active force relation between virtual protocol and virtual environment,
The virtual force information of collision detection including virtual protocol in virtual environment to directive generation module 2, as generation rehabilitation trainer
Reference needed for the instruction of the offer force feedback of device people 5, it is possible to receive scene or interactive mode turn that directive generation module 2 sends
The instruction such as change, timely respond to, as shown in figure 3, virtual protocol is virtual portrait in the scene, the scene can allow virtual portrait
Roaming activities are carried out wherein, and the virtual portrait can be with the action of real-time response patient 9.
Visual information acquisition module 1 uses Kinect cameras, using its bone tracing system, Real-time Collection patient's 9
Attitude information, virtual interacting scene module 6 is sent it to by communication connection.
Physiological parameter acquisition module 8 based on STM32F103 microcontrollers develop, using existing power supply management circuit, blood pressure,
Acquisition and conditioning circuit, bluetooth communication circuit of pulse and blood oxygen saturation parameter etc., are worn on patient 9, collection patient's 9
Physiological parameter can be passed through bluetooth 3 and be sent to monitoring module 7 including blood pressure, pulse, blood oxygen etc..
Power measurement module 4 is made up of the force cell and interface circuit constructed using foil gauge, is arranged at rehabilitation in Fig. 2
In the lower limb traction device of image training robot 5, the work of foot is acted between patient 9 and recovery exercising robot 5 for measuring
Firmly：Pressure, tractive force, and bluetooth 3 can be passed through be sent to monitoring module 7.
Monitoring module 7 is received using bluetooth 3 and collected simultaneously with friendly human-computer interaction interface on windows platform
The physiological parameter of patient 9 that display physiological parameter acquisition module 8 is collected, active force and rehabilitation instruction that power measurement module 4 is measured
Practice the motion state of robot 5, the whole rehabilitation training of monitor in real time, and gained information is sent to directive generation module 2.
It is virtual that the information or virtual interacting scene module 6 that directive generation module 2 is provided according to monitoring module 7 are provided
Scene interactivity information, by doctor or the decision-making software based on expert system development generates virtual interacting scene module 6 and health in time
Control instruction needed for multiple image training robot 5, and possess the defencive functions such as brake hard instruction issue.
Monitoring module 7, directive generation module 2 and virtual interacting scene module 6 share same computer 10, using point
Screen realizes that monitoring module 7, directive generation module 2 separate display with virtual interacting scene module 6 and operate.
Recovery exercising robot 5 can be realized using tail end traction type trajectory planning control lower limbs rehabilitation training robot
Patient 9 is drawn under force feedback output and passive rehabilitation training situation under initiative rehabilitation situation carries out rehabilitation training, and can be defeated
Go out its motion state, including attitude, each several part movement position, speed, acceleration etc., being driven by healing robot for force feedback is electric
Machine control is produced.
The specific following steps of application method of the above-mentioned rehabilitation training robot system based on virtual scene interaction：
Step 1：The proper use of recovery exercising robot 5 of patient 9, and physiological parameter acquisition module 8 is worn, visual information is adopted
The collection collection information of module 1, exports the body-sensing information of patient 9 and sends it to virtual interacting scene module 6；
Step 2：Virtual interacting scene module 6 receives the information that visual information acquisition module 1 sends, and real-time update is virtually handed over
Mutual scene, there is provided real-time vision and the sense of hearing calculate the relation in virtual environment while interaction, be sent to directive generation module
2, the reference needed for providing the instruction of force feedback as generation recovery exercising robot 5；
Step 3：Patient 9 carries out rehabilitation training model selection；
(1) if selection carries out the rehabilitation training pattern of active, recovery exercising robot 5 receives directive generation module 2 to be believed
Breath, exports feedback force in real time；
(2) if selection carries out passive rehabilitation training pattern, recovery exercising robot 5 draws patient according to trajectory planning
9 carry out rehabilitation training；
Step 4：Recovery exercising robot 5 exports its motion state, and power measurement module 4 is in real time in measurement rehabilitation training
Each to active force between patient 9 and recovery exercising robot 5, physiological parameter acquisition module 8 is realized in the rehabilitation training of patient 9
Real-time physiological information gathering, three's data are sent to monitoring module 7 by bluetooth 3；
Step 5：The reception measurement module 4 of monitoring module 7, physiological parameter acquisition module 8 and recovery exercising robot 5
The information of output, is collected and is shown with friendly human-computer interaction interface, the whole rehabilitation training of monitor in real time, and gained is believed
Breath is sent to directive generation module 2；
Step 6：Decision-making software of the directive generation module 2 by doctor or based on expert system development, comprehensive state monitoring mould
The information that block 7, virtual interacting scene module 6 send, generates virtual interacting scene module 6 and the institute of recovery exercising robot 5 in time
The control instruction for needing, and it is sent respectively to virtual interacting scene module 6 and recovery exercising robot 5；
Step 7：Once training terminates, and recovery exercising robot 5 returns initial position, and each module from service is simultaneously powered off,
Patient 9 unloads physiological parameter acquisition module 8.
Claims (9)
1. a kind of rehabilitation training robot system based on virtual scene interaction, it is characterised in that：Including virtual interacting scene mould
Block, visual information acquisition module, physiological parameter acquisition module, power measurement module, monitoring module, directive generation module and health
Multiple image training robot, wherein, for patient provides, real-time vision and the sense of hearing are interacted virtual interacting scene module；Visual information is gathered
Module by camera Real-time Collection patient body-sensing information and as the input of virtual interacting scene module；Physiological parameter acquisition mould
Block realizes the real-time physiological information gathering in Rehabilitation training process；Power measurement module is responsible for detecting Rehabilitation training process
In it is each to active force between recovery exercising robot；The whole rehabilitation training of monitoring module monitor in real time, while
It is responsible for collecting active force and rehabilitation instruction that the physiological parameter, power measurement module that physiological parameter acquisition module collects are measured
Practice the motion state of robot and shown with friendly human-computer interaction interface；Directive generation module is by doctor or based on expert system
The virtual scene interaction that the information or virtual interacting scene module that the decision-making software of exploitation is provided according to monitoring module are provided
Information generate virtual interacting scene module and recovery exercising robot in time needed for control instruction, and possess brake hard instruction
The defencive functions such as issue；Recovery exercising robot is responsible for realizing force feedback output and passive rehabilitation training under initiative rehabilitation situation
Patient is drawn under situation carries out rehabilitation training.
2. the rehabilitation training robot system based on virtual scene interaction according to claim 1, it is characterised in that：It is described
Virtual interacting scene module according to patient's independent desire or the suitable scene of Rehabilitation condition selecting, in virtual interacting scene
In be provided with virtual protocol, be capable of the action of real-time response patient, virtual interacting scene module is according to visual information acquisition module institute
The Rehabilitation training body-sensing information of collection makes real-time interaction response, calculates and exports between virtual protocol and virtual environment
Active force relation, including in virtual environment virtual protocol the virtual force information of collision detection to directive generation module, as generation
Reference needed for the instruction of recovery exercising robot offer force feedback, it is possible to receive scene or friendship that directive generation module sends
Mutual mode switch instruction.
3. the rehabilitation training robot system based on virtual scene interaction according to claim 1, it is characterised in that：It is described
Visual information acquisition module gathers the body-sensing information of patient using Kinect cameras, is then sent it to by communication connection
Virtual interacting scene module.
4. the rehabilitation training robot system based on virtual scene interaction according to claim 1, it is characterised in that：It is described
Physiological parameter acquisition module is worn on patient, gathers the physiological parameter of patient, and physiological parameter data is passed through into channel radio
Letter is sent to monitoring module.
5. the rehabilitation training robot system based on virtual scene interaction according to claim 1, it is characterised in that：It is described
Power measurement module includes force cell and amplification interface circuit, the in real time effect between measurement patient and recovery exercising robot
Power, and effect force information is sent to monitoring module by radio communication.
6. the rehabilitation training robot system based on virtual scene interaction according to claim 1, it is characterised in that：It is described
Monitoring module collects and shows the motion state of physiological parameter, force data and recovery exercising robot, real
When monitor whole rehabilitation training, and gained information is sent to directive generation module.
7. the rehabilitation training robot system based on virtual scene interaction according to claim 1, it is characterised in that：It is described
The virtual scene interaction letter that the information or virtual interacting scene module that directive generation module is provided according to monitoring module are provided
Breath, by doctor or the decision-making software based on expert system development generates virtual interacting scene module and recovery exercising robot in time
Required control instruction, and possess brake hard instruction issuing function.
8. the rehabilitation training robot system based on virtual scene interaction according to claim 1, it is characterised in that：It is described
Traction patient is carried out under recovery exercising robot realizes force feedback output and passive rehabilitation training situation under initiative rehabilitation situation
Rehabilitation training, and export the motion state of recovery exercising robot.
9. a kind of rehabilitation training robot system based on virtual scene interaction based on described in claim 1 to 8 any one
Application method, it is characterised in that：Specifically include following steps：
Step 1：The proper use of recovery exercising robot of patient simultaneously wears physiological parameter acquisition module, physiological parameter acquisition module and
Visual information acquisition module Real-time Collection physiological parameter and body-sensing information simultaneously send it to virtual friendship by communication connection
Mutual scene module；
Step 2：After virtual interacting scene module receives the information that visual information acquisition module sends, real-time update virtual interacting
Scape, there is provided while real-time vision and the sense of hearing are interacted, calculate the active force relation between virtual protocol and virtual environment, be sent to
Directive generation module, the reference needed for providing the instruction of force feedback as generation recovery exercising robot；
Step 3：Patient carries out rehabilitation training model selection；
(1) if selection carries out the rehabilitation training pattern of active, recovery exercising robot receives directive generation module information, in real time
Output feedback force；
(2) if selection carries out passive rehabilitation training pattern, recovery exercising robot draws patient and carries out according to trajectory planning
Rehabilitation training；
Step 4：Recovery exercising robot exports its motion state, power measurement module measure in real time in rehabilitation training patient with
Each to active force between recovery exercising robot, physiological parameter acquisition module realizes the real-time physiological in Rehabilitation training process
Information gathering, three's data are sent to monitoring module by radio communication；
Step 5：The letter of monitoring module reception measurement module, physiological parameter acquisition module and recovery exercising robot output
Breath, is collected and is shown with friendly human-computer interaction interface, the whole rehabilitation training of monitor in real time, and gained information is sent to
Directive generation module；
Step 6：It is decision-making software comprehensive state monitoring module of the directive generation module by doctor or based on expert system development, virtual
The information that interaction scenarios module sends, the control needed for generating virtual interacting scene module and recovery exercising robot in time refers to
Order, and it is sent respectively to virtual interacting scene module and recovery exercising robot；
Step 7：Once training terminates, and recovery exercising robot returns initial position, and each module from service is simultaneously powered off, and patient unloads
Lower physiological parameter acquisition module.
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| CN107169302A (en) * | 2017-06-12 | 2017-09-15 | 北京工业大学 | A kind of stroke patient information gathering and management system |
| CN107308638A (en) * | 2017-06-06 | 2017-11-03 | 中国地质大学（武汉） | A kind of entertaining rehabilitation training of upper limbs system and method for virtual reality interaction |
| CN108056898A (en) * | 2017-12-21 | 2018-05-22 | 东南大学 | The virtual-scene interacting recovery exercising robot and its control method of information are felt based on lower limb connecting rod model and power |
| CN109003301A (en) * | 2018-07-06 | 2018-12-14 | 东南大学 | A kind of estimation method of human posture and rehabilitation training system based on OpenPose and Kinect |
| WO2019024577A1 (en) * | 2017-08-01 | 2019-02-07 | 东南大学 | Natural human-computer interaction system based on multi-sensing data fusion |
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