CN106913445A - Upper limbs motion planning and robot control method and upper limbs robot - Google Patents
Upper limbs motion planning and robot control method and upper limbs robot Download PDFInfo
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- CN106913445A CN106913445A CN201510993967.9A CN201510993967A CN106913445A CN 106913445 A CN106913445 A CN 106913445A CN 201510993967 A CN201510993967 A CN 201510993967A CN 106913445 A CN106913445 A CN 106913445A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 34
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 49
- 238000001514 detection method Methods 0.000 claims description 25
- 210000001747 pupil Anatomy 0.000 claims description 25
- 210000001508 eye Anatomy 0.000 claims description 15
- 230000003287 optical effect Effects 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 7
- 210000003414 extremity Anatomy 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 10
- 230000006978 adaptation Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000004424 eye movement Effects 0.000 description 5
- 208000029028 brain injury Diseases 0.000 description 4
- 208000005392 Spasm Diseases 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000003925 brain function Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010010904 Convulsion Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 208000001738 Nervous System Trauma Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000006931 brain damage Effects 0.000 description 1
- 231100000874 brain damage Toxicity 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 208000028412 nervous system injury Diseases 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000007996 neuronal plasticity Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000009863 secondary prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 208000011580 syndromic disease Diseases 0.000 description 1
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Classifications
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of upper limbs motion planning and robot control method and upper limbs robot, wherein upper limbs motion planning and robot control method includes：For the patient using upper limbs robot, near infrared light is projeced into patient's eyeball；Catch reflected image of patient's eyeball near infrared light；According to patient's eyeball to the reflected image of near infrared light, the motion feature of patient's sight line is determined；According to the motion feature of patient's sight line, the motion of control upper limbs robot.The present invention can confirm impression of the patient in motion by the motion feature of patient's sight line, make impression of the motion flexible adaptation of upper limbs robot when patient is in motion, and then improve the rehabilitation training effect of patient.
Description
Technical field
The present invention relates to clinical rehabilitation medicine technical field, more particularly to upper limbs motion planning and robot control method and upper limbs machine
People.
Background technology
Clinical rehabilitation medicine practice is confirmed：Function after sacred disease and damage can be rehabilitation；Brain be it is plastic,
Cerebral function also can be restructuring after brain damage.Many brain injury patients have recovered impaired nervous function by rehabilitation,
Even it is back on the job, such example is too numerous to mention.Upper limbs robot is by substantial amounts of goal orientation formula repeatable motion
Stimulate, there are the brain injury patients of dyskinesia reinvented based on brain function the rehabilitation training of theory to upper limbs, allow patient
Learn correct upper extremity exercise pattern.Inventor realize it is of the invention during, find upper limbs robot of the prior art
Mechanical motion can only be carried out, it is impossible to which motion mode is adjusted flexibly according to impression of the patient in motion.
The content of the invention
The embodiment of the present invention provides a kind of upper limbs motion planning and robot control method, is used to make the motor fitness of upper limbs robot in trouble
Impression of the person in motion, the method includes：
For the patient using upper limbs robot, near infrared light is projeced into patient's eyeball；
Catch reflected image of patient's eyeball near infrared light；
According to patient's eyeball to the reflected image of near infrared light, the motion feature of patient's sight line is determined；
According to the motion feature of patient's sight line, the motion of control upper limbs robot.
In one embodiment, according to patient's eyeball to the reflected image of near infrared light, the motion feature of patient's sight line is determined, wrap
Include：
Pupil detection and blink detection are carried out to reflected image；
Pupil diameter is carried out in reflected image according to pupil detection result；
Benchmark optical codes are carried out in reflected image；
According to Pupil diameter result and benchmark optical codes result, direction of visual lines calculating is carried out；
According to blink detection result and direction of visual lines result of calculation, the motion feature of patient's sight line is determined.
In one embodiment, the motion feature of patient's sight line includes：The motion path of patient's sight line, frequency, position and duration
One of them is combined.
In one embodiment, according to the motion feature of patient's sight line, the motion of upper limbs robot is controlled, including：
According to the motion feature of patient's sight line, the motion of the motor pattern and/or control upper limbs robot of adjustment upper limbs robot is entered
Journey.
In one embodiment, the motor pattern of upper limbs robot includes：
It is passive to induce pattern, single-point triggering pattern, multiple spot triggering pattern, continuous motor pattern, Active Control Mode, resistance
One of motor pattern and perturbation mode or any combination.
The embodiment of the present invention also provides a kind of upper limbs robot, is used to make the motor fitness of upper limbs robot when patient is in motion
Impression, the upper limbs robot includes：
Eye tracker, for the patient using upper limbs robot, near infrared light being projeced into patient's eyeball；Catch patient's eyeball
To the reflected image of near infrared light；According to patient's eyeball to the reflected image of near infrared light, it is determined that and exporting the fortune of patient's sight line
Dynamic feature；
Motion-control module, the motion feature of the patient's sight line for being exported according to eye tracker, the motion of control upper limbs robot.
In one embodiment, eye tracker includes：
Micro projector, near infrared light to be projeced into patient's eyeball；
Imageing sensor, for catching reflected image of patient's eyeball near infrared light；
Image processing module, to the reflected image of near infrared light, the motion feature of patient's sight line is determined for according to patient's eyeball.
In one embodiment, image processing module specifically for：
Pupil detection and blink detection are carried out to reflected image；
Pupil diameter is carried out in reflected image according to pupil detection result；
Benchmark optical codes are carried out in reflected image；
According to Pupil diameter result and benchmark optical codes result, direction of visual lines calculating is carried out；
According to blink detection result and direction of visual lines result of calculation, the motion feature of patient's sight line is determined.
In one embodiment, motion-control module specifically for：
According to the motion feature of patient's sight line, the motion of the motor pattern and/or control upper limbs robot of adjustment upper limbs robot is entered
Journey.
In one embodiment, the motor pattern of upper limbs robot includes：
It is passive to induce pattern, single-point triggering pattern, multiple spot triggering pattern, continuous motor pattern, Active Control Mode, resistance
One of motor pattern and perturbation mode or any combination.
In the embodiment of the present invention, for the patient using upper limbs robot, near infrared light is projeced into patient's eyeball；Catch and suffer from
Reflected image of person's eyeball near infrared light；According to patient's eyeball to the reflected image of near infrared light, the fortune of patient's sight line is determined
Dynamic feature；According to the motion feature of patient's sight line, the motion of control upper limbs robot such that it is able to by the fortune of patient's sight line
Dynamic feature confirms impression of the patient in motion, makes impression of the motion flexible adaptation of upper limbs robot when patient is in motion,
And then improve the rehabilitation training effect of patient.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing skill
The accompanying drawing to be used needed for art description is briefly described, it should be apparent that, drawings in the following description are only the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.In the accompanying drawings：
Fig. 1 is the flow chart of upper limbs motion planning and robot control method in the embodiment of the present invention；
Fig. 2 is the exemplary plot of determination patient's sight line motion feature in the embodiment of the present invention；
Fig. 3 is the structural representation of upper limbs robot in the embodiment of the present invention；
Fig. 4 is the instantiation figure of upper limbs robot shown in Fig. 3 in the embodiment of the present invention.
Specific embodiment
For the purpose, technical scheme and advantage for making the embodiment of the present invention become more apparent, below in conjunction with the accompanying drawings to of the invention real
Example is applied to be described in further details.Here, schematic description and description of the invention is used to explain the present invention, but not
As limitation of the invention.
Inventor has found that upper limbs robot of the prior art can only carry out mechanical motion, for example, set a certain kind
Open upper limbs robot after motor pattern, upper limbs robot will at the appointed time drive the patient to carry out by this kind of motor pattern
Rehabilitation training, will not go to adjust motion mode because of impression difference of the patient in motion in the process, and this may make trouble
The rehabilitation training effect on driving birds is not good of person, or even patient danger is occurred in motion.When rehabilitation training is actually carried out, grasp
How the principle of rehabilitation enables nervous system injury obtain best recovery if being related to.The principle of rehabilitation training is generally comprised：
1st, early rehabilitation：
In general, once after the stable disease 48~72 hours of patient, it is possible to consider to start rehabilitation training.In early days
The purpose of rehabilitation is farthest to retain the function that patient remains, it is to avoid because what " braking " or " useless to use " was caused " gives up
With syndrome " and carry out disabled secondary prevention.
2nd, active Sex Rehabilitation：
As academia is to neural plasticity and the further investigation of function integrity theory and practice, after people specify that damage
The recovery of nervous function and reconstruction be largely dependence, time dependence and the dosage of putting into practice with rehabilitation treatment according to
Rely property.Active Sex Rehabilitation emphasizes that patient actively completes nervous function activity, rather than dependence passive exercise.Neural rehabilitation
Want to obtain " maximization " effect, it is necessary to which dependent patient is actively engaged in every nervous function activity.Passivity rehabilitation maneuver should
Reduce as far as possible.
3rd, suitable Sex Rehabilitation：
This principle is for improperly rehabilitation technique is used.Suitable rehabilitation technique is only used, can just make god
Advance along correct rehabilitation track through function, avoid detours.For example, spasm is almost each brain injury patients rehabilitation course
Must through stage.Upper and lower extremities strength is irrelevantly trained, upper limbs musculus flexor, extensor of leg spasm pattern can be aggravated, finally made
Patient leaves deformity.So even it may be said that " irrelevantly training is not than training also bad luck ".
4th, rehabilitation is strengthened：
According to the actual function of remaining of patient and the potential ability that may recover, a just right rehabilitation procedure is worked up,
Make patient pass through repeatedly practice positively obtain function progress, " practice " this function must just be paid it is necessary " when
Between ", and to reach certain " dosage ".The time paid is very little, it is desirable to dosage it is too low, the effect of rehabilitation goes out not
Come；Conversely, time and dosage can run counter to desire beyond the ability to bear of patient, the function of patient will not only improve, instead
And can regress, or even serious complication and complication is produced, make rehabilitation sexuality have to stop.
Inventor find, eye movement technique is applied to upper limbs robot, with reference to above-mentioned rehabilitation principle from the point of view of, precisely one kind has
The supplement of benefit.The maximum effect of eye movement technique, is that identifying user is intended to.Based on this, it has been widely used in various fields,
Such as Reading studies, Usability Study, advertising results test etc..In embodiments of the present invention, eye movement technique is applied to
Limb robot, uses the maximum feature of eye movement technique, i.e., to the perception and judgement of motion intention, for patient, in fact
It is the lifting of a kind of Perceived control and sense of accomplishment.By eye movement technique, upper limbs robot just can recognize that the motion intention of patient, give
Patient's one kind feel be he in leading whole training process, this can certainly greatly promote the initiative and sense of accomplishment of patient,
Meet initiative rehabilitation principle.When patient does not feel like oneself, training process can be influenceed by adjusting eyesight, remind therapist
Note, and then change drill program, meet suitability rehabilitation principle.
Based on this, a kind of upper limbs motion planning and robot control method is provided in embodiments of the present invention, make the motion of upper limbs robot
It is adapted to impression of the patient in motion.Fig. 1 is the flow chart of upper limbs motion planning and robot control method in the embodiment of the present invention,
As shown in figure 1, the method can include：
Step 101, the patient for using upper limbs robot, patient's eyeball is projeced into by near infrared light；
The reflected image of step 102, seizure patient's eyeball near infrared light；
Step 103, according to patient's eyeball to the reflected image of near infrared light, determine the motion feature of patient's sight line；
Step 104, the motion feature according to patient's sight line, the motion of control upper limbs robot.
Flow by the motion feature of patient's sight line in the embodiment of the present invention it is known that can confirm that patient exists as shown in Figure 1
Impression during motion, makes impression of the motion flexible adaptation of upper limbs robot when patient is in motion, and then improve the health of patient
Multiple training effect.
During specific implementation, for the patient using upper limbs robot, near infrared light is projeced into patient's eyeball, after eyeball
The photo light-reflecting property in portion and form the clearly demarcated bright dark areas of pupil, in this, as successive image treatment input.It is real
Applying can project near infrared light in example and act on eyeball using equipment such as micro projectors.Near infrared light is being projeced into patient's eye
After ball, reflected image of patient's eyeball near infrared light is caught.Can be using equipment such as imageing sensors with frame high in embodiment
Rate catches the substantial amounts of human eye reflected image of generation.
After reflected image of patient's eyeball near infrared light is captured, according to patient's eyeball to the reflected image of near infrared light,
Determine the motion feature of patient's sight line.Illustrate to determine patient's sight line to the reflected image of near infrared light according to patient's eyeball as an example
Motion feature detailed process.Fig. 2 is the schematic diagram of determination patient's sight line motion feature in this example, as shown in Fig. 2 root
The motion feature of patient's sight line is determined to the reflected image of near infrared light according to patient's eyeball, can be included：
Step 201, pupil detection and blink detection are carried out to reflected image；
Step 202, Pupil diameter is carried out in reflected image according to pupil detection result；
Step 203, benchmark optical codes are carried out in reflected image；
Step 204, according to Pupil diameter result and benchmark optical codes result, carry out direction of visual lines calculating；
Step 205, according to blink detection result and direction of visual lines result of calculation, determine the motion feature of patient's sight line.
In embodiment, image preprocessing can also be carried out after eyes image is collected, to improve successive image treatment
The degree of accuracy of result.In embodiment, after blink detection result and direction of visual lines result of calculation is obtained, it may be determined that corresponding
Event message, the position of human eye and blinkpunkt for for example being obtained according to ocular reflex pattern and eyeball image detail.Entering to act
After part Message Processing, result is fed back into upper limbs robot carries out motion control.
It is above-mentioned that near infrared light is projeced into patient's eyeball, and catch patient's eyeball to the reflected image of near infrared light and carry out figure
As the process for the treatment of can be implemented using equipment such as eye trackers.Eye tracker final output be patient's sight line motion feature,
Such as include：One of them or any combination such as the motion path of patient's sight line, frequency, position and duration.
After the motion feature for obtaining patient's sight line, you can according to the motion feature of patient's sight line, the fortune of control upper limbs robot
It is dynamic.In embodiment, the motor pattern and/or control upper limbs of upper limbs robot according to the motion feature of patient's sight line, can be adjusted
The motion process of robot.
Wherein, the motor pattern of upper limbs robot can for example include：Passive pattern, single-point triggering pattern, the multiple spot of inducing is touched
One of hair pattern, continuous motor pattern, Active Control Mode, resistive exercise pattern and perturbation mode or any combination.
In embodiment, upper limbs robot can apply classical distal end drive type intelligent upper limb healing technology, meet brain function
Reinvent 7 kinds of motor patterns (passive induction, single-point triggering, multiple spot triggering, continuous motion, active control, the resistance of theory
Motion and perturbation mode), meet different patients from the early stage passive rehabilitation training to later stage active resistance, allow patient to build as early as possible
Correct upper extremity exercise pattern is found, and improves constantly the motion control capabilities and accuracy of patient's upper limbs.
A kind of upper limbs robot is additionally provided based on same inventive concept, in the embodiment of the present invention, as described in the following examples.
Because the principle of the upper limbs robot solve problem is similar to upper limbs motion planning and robot control method, therefore the upper limbs robot
Implementation may refer to the implementation of upper limbs motion planning and robot control method, repeats part and repeats no more.
Fig. 3 is the structural representation of upper limbs robot in the embodiment of the present invention.As shown in figure 3, upper limbs in the embodiment of the present invention
Robot can include：
Eye tracker 301, for the patient using upper limbs robot, near infrared light being projeced into patient's eyeball；Catch patient
Reflected image of the eyeball near infrared light；According to patient's eyeball to the reflected image of near infrared light, it is determined that and exporting patient's sight line
Motion feature；
Motion-control module 302, the motion feature of the patient's sight line for being exported according to eye tracker, control upper limbs robot
Motion.
Fig. 4 is the instantiation figure of upper limbs robot shown in Fig. 3 in the embodiment of the present invention.Eye tracker 301 can be wrapped in Fig. 4
Include：
Micro projector 401, near infrared light to be projeced into patient's eyeball；
Imageing sensor 402, for catching reflected image of patient's eyeball near infrared light；
Image processing module 403, to the reflected image of near infrared light, the motion of patient's sight line is determined for according to patient's eyeball
Feature.
In embodiment, image processing module 403 specifically can be used for：
Pupil detection and blink detection are carried out to reflected image；
Pupil diameter is carried out in reflected image according to pupil detection result；
Benchmark optical codes are carried out in reflected image；
According to Pupil diameter result and benchmark optical codes result, direction of visual lines calculating is carried out；
According to blink detection result and direction of visual lines result of calculation, the motion feature of patient's sight line is determined.
In embodiment, the motion feature of patient's sight line can include：The motion path of patient's sight line, frequency, position and duration
One of them is combined.
In embodiment, motion-control module 302 specifically can be used for：
According to the motion feature of patient's sight line, the motion of the motor pattern and/or control upper limbs robot of adjustment upper limbs robot is entered
Journey.
In embodiment, the motor pattern of upper limbs robot can include：
It is passive to induce pattern, single-point triggering pattern, multiple spot triggering pattern, continuous motor pattern, Active Control Mode, resistance
One of motor pattern and perturbation mode or any combination.
In sum, in the embodiment of the present invention, for the patient using upper limbs robot, near infrared light is projeced into patient's eye
Ball；Catch reflected image of patient's eyeball near infrared light；According to patient's eyeball to the reflected image of near infrared light, it is determined that suffering from
The motion feature of person's sight line；According to the motion feature of patient's sight line, the motion of control upper limbs robot such that it is able to by suffering from
The motion feature of person's sight line confirms impression of the patient in motion, makes the motion flexible adaptation of upper limbs robot in patient in motion
When impression, and then improve patient rehabilitation training effect.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program producing
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.And, the present invention can be used and wherein include the computer of computer usable program code at one or more
The computer journey implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The present invention is the flow chart with reference to method according to embodiments of the present invention, equipment (system) and computer program product
And/or block diagram is described.It should be understood that each flow during flow chart and/or block diagram can be realized by computer program instructions
And/or the combination of the flow and/or square frame in square frame and flow chart and/or block diagram.These computer programs can be provided to refer to
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is made to produce
One machine so that produced for realizing by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of being specified in one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with certain party
In the computer-readable memory of formula work so that instruction of the storage in the computer-readable memory is produced includes instruction dress
The manufacture put, the command device is realized in one flow of flow chart or multiple flow and/or block diagram one square frame or multiple side
The function of being specified in frame.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in computer
Or on other programmable devices perform series of operation steps to produce computer implemented treatment, so as to computer or other
The instruction performed on programmable device is provided for realizing in one flow of flow chart or multiple one side of flow and/or block diagram
The step of function of being specified in frame or multiple square frames.
Particular embodiments described above, has been carried out further specifically to the purpose of the present invention, technical scheme and beneficial effect
It is bright, should be understood that and the foregoing is only specific embodiment of the invention, the protection being not intended to limit the present invention
Scope, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc., should be included in
Within protection scope of the present invention.
Claims (10)
1. a kind of upper limbs motion planning and robot control method, it is characterised in that including：
For the patient using upper limbs robot, near infrared light is projeced into patient's eyeball；
Catch reflected image of patient's eyeball near infrared light；
According to patient's eyeball to the reflected image of near infrared light, the motion feature of patient's sight line is determined；
According to the motion feature of patient's sight line, the motion of control upper limbs robot.
2. the method for claim 1, it is characterised in that it is described according to patient's eyeball to the reflectogram of near infrared light
Picture, determines the motion feature of patient's sight line, including：
Pupil detection and blink detection are carried out to the reflected image；
Pupil diameter is carried out in the reflected image according to pupil detection result；
Benchmark optical codes are carried out in the reflected image；
According to Pupil diameter result and benchmark optical codes result, direction of visual lines calculating is carried out；
According to blink detection result and direction of visual lines result of calculation, the motion feature of patient's sight line is determined.
3. the method for claim 1, it is characterised in that the motion feature of patient's sight line includes：Patient regards
One of the motion path of line, frequency, position and duration or any combination.
4. the method for claim 1, it is characterised in that the motion feature according to patient's sight line, in control
The motion of limb robot, including：
According to the motion feature of patient's sight line, the motion of the motor pattern and/or control upper limbs robot of adjustment upper limbs robot is entered
Journey.
5. method as claimed in claim 4, it is characterised in that the motor pattern of the upper limbs robot includes：
It is passive to induce pattern, single-point triggering pattern, multiple spot triggering pattern, continuous motor pattern, Active Control Mode, resistance
One of motor pattern and perturbation mode or any combination.
6. a kind of upper limbs robot, it is characterised in that including：
Eye tracker, for the patient using upper limbs robot, near infrared light being projeced into patient's eyeball；Catch patient's eyeball
To the reflected image of near infrared light；According to patient's eyeball to the reflected image of near infrared light, it is determined that and exporting the fortune of patient's sight line
Dynamic feature；
Motion-control module, the motion feature of the patient's sight line for being exported according to eye tracker, the motion of control upper limbs robot.
7. upper limbs robot as claimed in claim 6, it is characterised in that the eye tracker includes：
Micro projector, near infrared light to be projeced into patient's eyeball；
Imageing sensor, for catching reflected image of patient's eyeball near infrared light；
Image processing module, to the reflected image of near infrared light, the motion feature of patient's sight line is determined for according to patient's eyeball.
8. upper limbs robot as claimed in claim 7, it is characterised in that described image processing module specifically for：
Pupil detection and blink detection are carried out to the reflected image；
Pupil diameter is carried out in the reflected image according to pupil detection result；
Benchmark optical codes are carried out in the reflected image；
According to Pupil diameter result and benchmark optical codes result, direction of visual lines calculating is carried out；
According to blink detection result and direction of visual lines result of calculation, the motion feature of patient's sight line is determined.
9. upper limbs robot as claimed in claim 6, it is characterised in that the motion-control module specifically for：
According to the motion feature of patient's sight line, the motion of the motor pattern and/or control upper limbs robot of adjustment upper limbs robot is entered
Journey.
10. upper limbs robot as claimed in claim 9, it is characterised in that the motor pattern of the upper limbs robot includes：
It is passive to induce pattern, single-point triggering pattern, multiple spot triggering pattern, continuous motor pattern, Active Control Mode, resistance
One of motor pattern and perturbation mode or any combination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510993967.9A CN106913445A (en) | 2015-12-25 | 2015-12-25 | Upper limbs motion planning and robot control method and upper limbs robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510993967.9A CN106913445A (en) | 2015-12-25 | 2015-12-25 | Upper limbs motion planning and robot control method and upper limbs robot |
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|---|---|
| CN106913445A true CN106913445A (en) | 2017-07-04 |
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| CN201510993967.9A Pending CN106913445A (en) | 2015-12-25 | 2015-12-25 | Upper limbs motion planning and robot control method and upper limbs robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111281762A (en) * | 2018-12-07 | 2020-06-16 | 广州幻境科技有限公司 | Vision rehabilitation training method and system |
| CN112891137A (en) * | 2021-01-21 | 2021-06-04 | 深圳华鹊景医疗科技有限公司 | Upper limb rehabilitation robot system, robot control method and device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102309366A (en) * | 2011-07-21 | 2012-01-11 | 山东科技大学 | Control system and control method for controlling upper prosthesis to move by using eye movement signals |
| CN102830797A (en) * | 2012-07-26 | 2012-12-19 | 深圳先进技术研究院 | Man-machine interaction method and system based on sight judgment |
| CN104881129A (en) * | 2015-06-19 | 2015-09-02 | 石狮市智诚通讯器材贸易有限公司 | Intelligent terminal control device controlled through eye movement and control method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102309366A (en) * | 2011-07-21 | 2012-01-11 | 山东科技大学 | Control system and control method for controlling upper prosthesis to move by using eye movement signals |
| CN102830797A (en) * | 2012-07-26 | 2012-12-19 | 深圳先进技术研究院 | Man-machine interaction method and system based on sight judgment |
| CN104881129A (en) * | 2015-06-19 | 2015-09-02 | 石狮市智诚通讯器材贸易有限公司 | Intelligent terminal control device controlled through eye movement and control method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111281762A (en) * | 2018-12-07 | 2020-06-16 | 广州幻境科技有限公司 | Vision rehabilitation training method and system |
| CN112891137A (en) * | 2021-01-21 | 2021-06-04 | 深圳华鹊景医疗科技有限公司 | Upper limb rehabilitation robot system, robot control method and device |
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