CN109192272A - Based on the Leap Motion healing hand function training system combined with VR and its implementation - Google Patents
Based on the Leap Motion healing hand function training system combined with VR and its implementation Download PDFInfo
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- CN109192272A CN109192272A CN201811415805.7A CN201811415805A CN109192272A CN 109192272 A CN109192272 A CN 109192272A CN 201811415805 A CN201811415805 A CN 201811415805A CN 109192272 A CN109192272 A CN 109192272A
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
Abstract
The present invention relates to a kind of healing hand function training system combined based on Leap Motion with VR and its implementation, sensing capture technique is combined with virtual reality technology, the exercise data of user's hand is obtained in real time and is mapped in the immersion virtual scene by VR building by Leap Motion hand moving tracing and high-precision finger identification technology carries out real-time, interactive, concurrently set such as gesture training, finger control ability training for promotion such as two fingers are to pinching, spherical grasping, the training mission close to daily life such as column grasping, for because caused by disease or injury hand functional movement obstacle user rehabilitation training scheme is provided.The present invention improves the interest and initiative of user's rehabilitation training, accelerates the effect of user movement nervous function remodeling, current doctor's resource scarcity status can be effectively relieved.
Description
Technical field
The present invention relates to rehabilitation project and field of virtual reality, and in particular to one kind is tied based on Leap Motion and VR phase
The healing hand function training system and its implementation of conjunction.
Background technique
According to World Health Organization, whole world dyskinesia caused by cerebral apoplexy due to, needs to do rehabilitation
User is just increasing year by year.Wherein, hand functional movement obstacle is that cerebral apoplexy causes one of chief complaint, is embodied between referring to and closes
Section and metacarpophalangeal joints stretching, extension are difficult, lose the fine joint control ability such as grippings, finger, seriously affect the daily life of user with
Ability to work brings heavy burden to family and society.It is had shown that through research, aggressive rehabilitation training facilitates user
The recovery of extremity motor function simultaneously promotes to fully recover.
However, traditional healing hand function is treated, mainly take doctor to the one-to-one formula rehabilitation of user or by letter
Single rehabilitation appliances such as wooden peg, not only the amount of labour is big for this method, somewhat expensive, but also training effectiveness and intensity are difficult to ensure, especially
It is directed to rehabilitation later period user, and rehabilitation course is dry as dust, and it is poor that user participates in initiative, so that recovery period extends.
In recent years, appearance of the robot for healing hand function as a kind of rehabilitation medicine equipment alleviates doctor to a certain extent
The amount of labour of teacher also provides a kind of new training thinking for healing hand function.But there are still following deficiencies for it: (1) mechanical knot
There is the risk that secondary injury is caused to user's finger in structure, safety is difficult to be guaranteed；(2) healing robot control it is complicated,
Somewhat expensive, ordinary user are difficult to bear；It (3) is mostly passive motion-type exercise rehabilitation, it is difficult to give full play to user's nervous centralis
The active plasticity of system.
Therefore, it researches and develops a set of proactive that can improve user's training process and promotes user's hand muscular strength, hand
Refer to the recovery of the functions such as harmony, flexibility, while also ensuring hand rehabilitation training system and the side of user's training of safety
Method seems particularly necessary.
Summary of the invention
In order to overcome shortcoming and deficiency present in existing healing hand function training, the present invention provides a kind of based on Leap
The healing hand function training system and implementation method that Motion is combined with VR pass through VR helmet structure using mixed reality technology
Task formula 3D virtual scene is built to increase the telepresenc and the sense of reality of rehabilitation training, in conjunction with the realization pair of Leap Motion sensor
The interaction between virtual scene is realized in the capture identification in the fine joint of hand, provides a kind of convenient, peace for hand dysfunction user
Entirely, effective rehabilitation training mode.
The present invention provides a kind of healing hand function training system combined based on Leap Motion with VR, hardware composition
Part includes: forearm supporting support, Leap Motion sensor, the VR helmet, main frame, stereo set and display, institute
It states the realization of Leap Motion sensor to acquire the three-dimensional location data of finger-joint, the VR helmet realizes virtual scene wash with watercolours
Dye, the main frame realize that data processing and healing hand function are evaluated；The height of the forearm supporting support is adjustable, and
Upper surface is curved surface, is used to support the hand that can not independently lift the user of shoulder and elbow joint, the Leap Motion sensing
Device realizes capture identification and accurate tracking to the movement of each artis of user's hand, and it is virtual that the VR helmet can construct task formula 3D
For scene to increase the telepresenc and the sense of reality of rehabilitation training, the main frame obtains the Leap Motion sensor
Data analyzed, and real-time control is synchronized to the virtual hand in 3D virtual scene；The stereo set and the meter
It calculates machine host to be connected, provides audio feedback information for user's rehabilitation training.
Preferably, the Leap Motion sensor can be placed in the lower section of user's hand or be fixed on VR helmet surface.
Preferably, the virtual reality human-computer interaction part can provide daily gesture training and control ability promotes two aspects
Scene is selected for user, with training user's hand space orientation ability and motion control capabilities.
Preferably, after user completes a training process, system will be gone on a tour the healing hand function evaluation portion
Play score data, while periodically rehabilitation training recruitment evaluation is provided as a result, and generating rehabilitation report.
A kind of implementation method of the healing hand function training system combined based on Leap Motion with VR, including it is following
Step:
S1, user combine itself hand activities ability power to select suitable hardware installation mode, it is soft to log in rehabilitation training
Part system；
S2, user make Leap Motion identification posture, and after identifying and tracing into user's both hands, user can
Operation interface is controlled by the virtual hand in 3D virtual scene and carries out respective menu selection, and then completes scene selection and ginseng
Number setting；
S3, user enter healing hand function training link, according in current Training scene text and voice prompting complete
Training mission, and score this training；
S4, after training mission of every completion, it includes next that system can adaptively adjust automatically according to last time training score
Parameter including the degree-of-difficulty factor of Training scene and training time are long；
S5, after user completes all rehabilitation training tasks for pre-establishing, system summarizes automatically when generating every time trained
Length, score, rehabilitation assessment information simultaneously show user with report or curve form, while establishing the electronics of user's rehabilitation training
Archives, to assist doctor to formulate scientific rehabilitation training scheme.
Beneficial effects of the present invention are as follows:
(1) on the one hand, training method of the present invention gets rid of Physical Therapist and the one-to-one formula manual labor of user, effectively slow
Xie Dangqian doctor's resource scarcity status reduces demand of the Traditional Rehabilitation training to place space, equipment, greatly improves
The convenience of rehabilitation training；
(2) on the other hand, the present invention is directed to apoplexy user hand function rehabilitation training demand, designs the task formula of closeness to life
Virtual scene feeds back stimulation in conjunction with depending on, the sense of hearing and proprioception more, effectively increases user trained interest and initiative,
Accelerate the motorial remodeling of user's brain function, achievees the purpose that improve user hand functional movement；
(3) finally, training method of the present invention, not by spatio-temporal constraint, has compared with Traditional Rehabilitation training
The advantages such as safety, interest, with strong points, and many-sided feedback such as can provide vision, the sense of hearing is to improve user to rehabilitation
Effect.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural block diagrams of the Leap Motion healing hand function training system combined with VR；
Fig. 2 is the healing hand function training system hardware layout signal combined the present invention is based on Leap Motion with VR
Figure；
Fig. 3 is the common gesture exemplary view of healing hand function of the present invention training；
Fig. 4 is virtual training scene embodiment exemplary view of the present invention；And
Fig. 5 is healing hand function training method embodiment flow diagram of the present invention.
Specific embodiment
By the technology contents of the detailed present invention, structure feature, reach purpose and efficacy, below with reference to Figure of description
It is described in detail.
As shown in Figure 1, the present invention is by the capture of Leap Motion hand exercise, computer game module, data processing and biography
Defeated, virtual reality technology combines, and proposes a kind of rehabilitation training new method for hand functional movement obstacle user.It includes
Immersion virtual training scene two parts based on Leap Motion hand motion recognition and based on the rendering of the VR helmet, i.e., first
21 artis spatial three-dimensional position information of user's hand are captured by Leap Motion, handles and transmits by internal microprocessor
Data Management Analysis and pattern-recognition are carried out to host computer, completion synchronizes real-time control to the virtual hand in scene.It connects
By Unity3D development of games engine, hand exercise scene of building that daily-life related, using the VR helmet come
Rendering is reached with the authenticity, the feeling of immersion that increase user's training process to improve the enthusiasm of user's rehabilitation training, initiative
To better rehabilitation training effect.
With continued reference to shown in Fig. 1, to meet different rehabilitation phase users, hand movement function rehabilitation training of the present invention is related to
Daily gesture is trained and control ability promotes two aspect scenes and selects for user.Daily gesture training, including digital 0-9 totally ten
Common OK in gesture motion, life, eh, the gestures such as stick, to improve user to the control ability of each finger-joint；Control
Capability improving training processed, including two fingers are such as picked up fruit, tennis, column and are grasped as fallen to such as defloration valve, spherical grasping is pinched
Water takes the three generic task formula scenes such as waddy, for user's finger flexibility ratio and space control capability two in terms of carry out training for promotion.
Fig. 3 shows the common gesture of healing hand function training, wherein digital 2 gestures 9, digital 3 gestures 10, digital 4 gestures 11, OK hand
Gesture 12, stick gesture 13, gesture 14, palm open gesture 15, it is spherical grasp gesture 16, cylindricality grasps gesture 17 and two fingers to pinching
Gesture 18.
Hardware composition part based on the Leap Motion healing hand function training system combined with VR and implementation method
Specifically include that the VR helmet 1, Leap Motion sensor 2, display 3, loudspeaker 4, host computer 5, keyboard 6, hand support
Column 7 and corresponding auxiliary facility, such as power supply unit, each equipment arrangement such as Fig. 2.
Forearm supporting support, for hand exercise ability it is weaker for example can not independently lift shoulder, the user of elbow joint rise it is auxiliary
Supporting role is helped, helps user hand portion to be located at 2 surface range motion of Leap Motion sensor, to guarantee its sensor pair
Each artis of user's hand realizes accurate tracking.
Leap Motion sensor 2 can be with fan-shaped region about 150 ° sky of the Velocity Pursuit more than 200 frame per second above it
Between in visual field manpower any movement, by a small amount of gesture information of acquisition, estimate palm, wrist, finger tip, remote articulations digitorum manus,
The three-dimensional space position of 21 key points such as nearly articulations digitorum manus, finger and palm joint, precision are up to 0.01 millimeter.When analyzing hand exercise
Virtual hand can be driven to complete virtual scene as the attitude parameter of hand by the difference of artis in two frame data of comparison front and back to hand over
Mutually.In addition, it is contemplated that the user of different rehabilitation degree, the present invention propose the peace of two kinds of Leap Motion sensors and the VR helmet
Dress mode has the user of certain autonomic activities ability for shoulder, elbow joint, can take and install mould shown in attached drawing 2 (a)
Leap Motion is directly embedded into the surface of the VR helmet, or Leap Motion is fixed on the VR helmet using sucker by formula
Surface guarantees that Leap Motion has bigger identification range to user's hand, realizes to shoulder, elbow, wrist, the multiple joints of finger
Carry out comprehensive rehabilitation training；For the weaker user of the locomitivities such as autonomous shoulder, elbow joint is unable to, attached drawing 2 (b) is taken
Shown in Installation Modes, by forearm supporting support auxiliary user hand portion be located at Leap Motion sensor position directly above, finally
Realize the fining rehabilitation training to wrist, finger-joint.
The VR helmet 1 selects the common VR equipment in market, such as HTC Vive, for realizing the wash with watercolours to virtual training scene
Dye increases feeling of immersion, the initiative of user's training；It is carried out between main frame 5 and the VR helmet 1 and Leap Motion sensor 2
Wired or wireless Wifi connection receives each joint three-dimensional motion data of user's hand that Leap Motion sensor 2 captures
And provide the running environment of virtual scene；Stereo set realizes voice reminder and music in training process, forms training
The audio feedback of process.
The present invention is further described with reference to embodiments:
It is virtual training scene embodiment exemplary view of the present invention referring to Fig. 4, it is exemplary below briefly to describe virtual scene circle
Face content.Training interface is including but not limited to return upper level, training time, fruit basket, virtual hand, fruit to be picked up, text
Suggestion content, training pause.Acquire the three-dimensional coordinate information of user's finger artis, warp in real time by Leap Motion first
Realize that then user constructs virtual scene in VR to the virtual hand progress real-time synchronization control in virtual scene after crossing changes in coordinates
The middle fruit by the ground of park, which is picked up, to be put into fruits basket nearby, is completed to finger grippage and space orientation ability
The rehabilitation training of aspect.
Healing hand function evaluation aspect, in order to allow user to have intuitive feedback to oneself execution, this system exists
After user completes a training process, game points data are provided；Rehabilitation training recruitment evaluation result is periodically provided simultaneously.Use section
Method carries out comprehensive assessment to patient, provides reliable basis for treatment.
Fig. 5 shows a kind of main flow of healing hand function training method combined based on Leap Motion with VR:
S1, user combine in the two kinds of hardware wearing modes of itself hand activities ability power selection as shown in Fig. 2
It is a kind of to be dressed, then log in rehabilitation training software systems；Need to register one's own rehabilitation training account if new user
Family, while individual subscriber case history is improved, including the information such as name, gender, age, illness description；
S2, user's both hands are put into right above Leap Motion sensor or front position, user make Leap
Motion identifies posture, and after identifying and tracing into user's both hands, user can be controlled by the virtual hand in scene
Operation interface carries out respective menu selection；Then complete the virtual scene selection of rehabilitation training: daily gesture class, two fingers are to pinching
Class, spherical grasping class, column grasp the parameter settings such as class, the difficult grade of training, training time；The wherein parameter of training game scene
It can choose system default scenario parameters, personal settings can also be carried out according to user's own situation；
S3, user enter healing hand function training link, according in current Training scene text and voice prompting complete
Training mission.The present invention promotes rehabilitation training using the spherical grippage of user and carries out demonstration explanation as example: as Leap Motion
When detecting that user makes grasp motion, the virtual hand in virtual scene will pick up the orange being scattered on the ground of park；
Then move to the basket position in left side, the virtual hand when Leap Motion detects finger expansion action, in virtual scene
The orange in hand will be unclamped and be put into basket；Until the fruit on ground to be encased in basket or reach preparatory
When the training time of setting, this time training mission terminates.Then system is according to pickup orange quantity, time, fluent movements degree
It scores；
S4, after training mission of every completion, it is trained that system can adaptively adjust next time automatically according to last time training score
The degree-of-difficulty factor of scene and training time are long, and user also can be switched other kinds of hand rehabilitation scene such as column and grasp at this time
Class, gesture identification class are trained；
S5, after user completes all rehabilitation training tasks for pre-establishing, system summarizes automatically when generating every time trained
The information such as length, score, rehabilitation assessment analysis show user with report or curve form, while establishing user's rehabilitation training
Electronic record, auxiliary doctor formulate scientific rehabilitation training scheme.
It is the preferred embodiment of the application above, is not limited the scope of protection of the present invention with this, it is noted that for this
For the those of ordinary skill of technical field, under the premise of not departing from this technology principle, several improvements and modifications can also be made,
These improvements and modifications also should be regarded as the protection scope of the application.
Claims (5)
1. a kind of healing hand function training system combined based on Leap Motion with VR, which is characterized in that hardware composition portion
It point include: forearm supporting support, Leap Motion sensor, the VR helmet, main frame, stereo set and display,
The Leap Motion sensor, which is realized, acquires the three-dimensional location data of finger-joint, and the VR helmet is realized virtual
Scene rendering, the main frame realize that data processing and healing hand function are evaluated；
The height of the forearm supporting support is adjustable, and upper surface is curved surface, and shoulder and elbow can not independently be lifted by being used to support
The hand of the user in joint, the Leap Motion sensor to the movement of each artis of user's hand realize capture identification with
Accurate tracking, the VR helmet can construct task formula 3D virtual scene to increase the telepresenc and the sense of reality of rehabilitation training, described
Main frame analyzes the data that the Leap Motion sensor obtains, and to the virtual hand in 3D virtual scene
Synchronize real-time control；And
The stereo set is connected with the main frame, provides audio feedback information for user's rehabilitation training.
2. the healing hand function training system according to claim 1 combined based on Leap Motion with VR, feature
It is, the Leap Motion sensor can be placed in the lower section of user's hand or be fixed on VR helmet surface.
3. the healing hand function training system according to claim 1 combined based on Leap Motion with VR, feature
It is, the virtual reality human-computer interaction part can provide daily gesture training and control ability promotes two aspect scenes for user
Selection, with training user's hand space orientation ability and motion control capabilities.
4. the healing hand function training system according to claim 1 combined based on Leap Motion with VR, feature
It is, for the healing hand function evaluation portion after user completes a training process, system will provide game points data,
Rehabilitation training recruitment evaluation is periodically provided as a result, and generating rehabilitation report simultaneously.
5. a kind of implementation method of the healing hand function training system combined based on Leap Motion with VR, which is characterized in that
The following steps are included:
S1, user combine itself hand activities ability power to select suitable hardware installation mode, log in rehabilitation training software system
System；
S2, user make Leap Motion identification posture, and after identifying and tracing into user's both hands, user can pass through
Virtual hand in 3D virtual scene carries out respective menu selection to control operation interface, and then the selection of completion scene and parameter are set
It sets；
S3, user enter healing hand function training link, according in current Training scene text and voice prompting complete training
Task, and score this training；
S4, after training mission of every completion, system can adaptively adjust automatically according to last time training score include next time it is trained
Parameter including the degree-of-difficulty factor of scene and training time are long；
S5, after user completes all rehabilitation training tasks pre-established, system summarizes automatically to be generated duration trained every time, obtains
Point, rehabilitation assessment information and user is showed with report or curve form, while establishing the electronic record of user's rehabilitation training,
To assist doctor to formulate scientific rehabilitation training scheme.
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| CN109830282A (en) * | 2019-03-29 | 2019-05-31 | 贾艳滨 | Scene training data processing method and processing device |
| CN110070777A (en) * | 2019-06-13 | 2019-07-30 | 大连民族大学 | A kind of Hezhe's fish-skin draws simulation training system and implementation method |
| CN110232963A (en) * | 2019-05-06 | 2019-09-13 | 中山大学附属第一医院 | A kind of upper extremity exercise functional assessment system and method based on stereo display technique |
| CN111110982A (en) * | 2019-12-02 | 2020-05-08 | 燕山大学 | Hand rehabilitation training method based on motor imagery |
| CN111145865A (en) * | 2019-12-26 | 2020-05-12 | 中国科学院合肥物质科学研究院 | Vision-based hand fine motion training guidance system and method |
| CN112543978A (en) * | 2019-06-17 | 2021-03-23 | 森桑姆德有限公司 | Software and hardware system for rehabilitation of patients with cognitive impairment after upper limb stroke |
| CN113035314A (en) * | 2019-12-25 | 2021-06-25 | 浙江远图互联科技股份有限公司 | Rehabilitation treatment system, method, computer device and readable storage medium |
| CN113035000A (en) * | 2021-03-11 | 2021-06-25 | 广东工业大学 | Virtual reality training system for central integrated rehabilitation therapy technology |
| CN113506603A (en) * | 2021-06-08 | 2021-10-15 | 东北大学 | Wrist joint rehabilitation training effect evaluation method based on radial flexion dynamic and static characteristics |
| CN113593671A (en) * | 2021-10-08 | 2021-11-02 | 西安交通大学城市学院 | Automatic adjustment method and device of virtual rehabilitation game based on Leap Motion gesture recognition |
| CN113877157A (en) * | 2021-06-29 | 2022-01-04 | 重庆大学 | Hand function rehabilitation system combining data glove and VR technology |
| CN115054903A (en) * | 2022-06-30 | 2022-09-16 | 北京工业大学 | Virtual game rehabilitation system and method for active rehabilitation of stroke patient |
| CN115762709A (en) * | 2022-11-09 | 2023-03-07 | 苏州智康机器人有限公司 | Desktop mirror image rehabilitation robot system and application method thereof |
| CN116312947A (en) * | 2023-03-13 | 2023-06-23 | 北京航空航天大学 | Immersive ankle and foot rehabilitation training method based on upper limb movement signals and electronic equipment |
| CN117497133A (en) * | 2023-12-26 | 2024-02-02 | 中科(安徽)G60智慧健康创新研究院 | System and method for training patients with neurodegenerative cognitive disorders |
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| CN110232963A (en) * | 2019-05-06 | 2019-09-13 | 中山大学附属第一医院 | A kind of upper extremity exercise functional assessment system and method based on stereo display technique |
| CN110232963B (en) * | 2019-05-06 | 2021-09-07 | 中山大学附属第一医院 | Upper limb movement function evaluation system and method based on stereoscopic display technology |
| CN110070777A (en) * | 2019-06-13 | 2019-07-30 | 大连民族大学 | A kind of Hezhe's fish-skin draws simulation training system and implementation method |
| CN110070777B (en) * | 2019-06-13 | 2021-07-09 | 大连民族大学 | Huchizhui fish skin painting simulation training system and implementation method |
| CN112543978A (en) * | 2019-06-17 | 2021-03-23 | 森桑姆德有限公司 | Software and hardware system for rehabilitation of patients with cognitive impairment after upper limb stroke |
| CN111110982A (en) * | 2019-12-02 | 2020-05-08 | 燕山大学 | Hand rehabilitation training method based on motor imagery |
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| CN111145865A (en) * | 2019-12-26 | 2020-05-12 | 中国科学院合肥物质科学研究院 | Vision-based hand fine motion training guidance system and method |
| CN113035000A (en) * | 2021-03-11 | 2021-06-25 | 广东工业大学 | Virtual reality training system for central integrated rehabilitation therapy technology |
| CN113506603A (en) * | 2021-06-08 | 2021-10-15 | 东北大学 | Wrist joint rehabilitation training effect evaluation method based on radial flexion dynamic and static characteristics |
| CN113506603B (en) * | 2021-06-08 | 2023-09-26 | 东北大学 | Wrist joint rehabilitation training effect evaluation method based on dynamic and static characteristics of radial flexion |
| CN113877157A (en) * | 2021-06-29 | 2022-01-04 | 重庆大学 | Hand function rehabilitation system combining data glove and VR technology |
| CN113877157B (en) * | 2021-06-29 | 2023-12-19 | 重庆大学 | Hand function rehabilitation system combining data glove and VR technology |
| CN113593671A (en) * | 2021-10-08 | 2021-11-02 | 西安交通大学城市学院 | Automatic adjustment method and device of virtual rehabilitation game based on Leap Motion gesture recognition |
| CN115054903A (en) * | 2022-06-30 | 2022-09-16 | 北京工业大学 | Virtual game rehabilitation system and method for active rehabilitation of stroke patient |
| CN115762709A (en) * | 2022-11-09 | 2023-03-07 | 苏州智康机器人有限公司 | Desktop mirror image rehabilitation robot system and application method thereof |
| CN116312947A (en) * | 2023-03-13 | 2023-06-23 | 北京航空航天大学 | Immersive ankle and foot rehabilitation training method based on upper limb movement signals and electronic equipment |
| CN116312947B (en) * | 2023-03-13 | 2023-11-24 | 北京航空航天大学 | Immersive ankle and foot rehabilitation training method based on upper limb movement signals and electronic equipment |
| CN117497133A (en) * | 2023-12-26 | 2024-02-02 | 中科(安徽)G60智慧健康创新研究院 | System and method for training patients with neurodegenerative cognitive disorders |
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Application publication date: 20190111 |