CN109363888A - 一种沉浸式上肢康复训练系统 - Google Patents
一种沉浸式上肢康复训练系统 Download PDFInfo
- Publication number
- CN109363888A CN109363888A CN201811354131.4A CN201811354131A CN109363888A CN 109363888 A CN109363888 A CN 109363888A CN 201811354131 A CN201811354131 A CN 201811354131A CN 109363888 A CN109363888 A CN 109363888A
- Authority
- CN
- China
- Prior art keywords
- patient
- arm
- rehabilitation
- immersion
- arms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 40
- 238000007654 immersion Methods 0.000 title claims abstract description 24
- 230000035876 healing Effects 0.000 claims abstract description 28
- 230000000007 visual effect Effects 0.000 claims abstract description 25
- 239000012636 effector Substances 0.000 claims abstract description 19
- 210000000245 forearm Anatomy 0.000 claims abstract description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000000694 effects Effects 0.000 claims description 12
- 230000003387 muscular Effects 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 208000027418 Wounds and injury Diseases 0.000 claims description 5
- 230000006378 damage Effects 0.000 claims description 5
- 208000014674 injury Diseases 0.000 claims description 5
- 210000002310 elbow joint Anatomy 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 230000000638 stimulation Effects 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008485 antagonism Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
-
- 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
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0103—Constructive details inflatable
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/5007—Control means thereof computer controlled
-
- 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
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5092—Optical sensor
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0425—Sitting on the buttocks
- A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0636—3D visualisation
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0655—Tactile feedback
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0658—Position or arrangement of display
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0658—Position or arrangement of display
- A63B2071/0661—Position or arrangement of display arranged on the user
- A63B2071/0666—Position or arrangement of display arranged on the user worn on the head or face, e.g. combined with goggles or glasses
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/62—Inflatable
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
- A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Human Computer Interaction (AREA)
- General Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了一种沉浸式上肢康复训练系统,包括:双臂康复机器人、底座、位置跟踪器、VR头盔、数据力反馈手套、上位机控制中心、被动式柔顺末端执行器,所述双臂康复机器人安装于底座上,通过两被动式柔顺末端执行器带动患者手臂运动;所述视觉传感器用于记录患者上肢的运动并反馈控制双臂康复机器人运动;位置跟踪器用于实时采集患者手臂位置姿态信息并传入上位机控制中心;所述VR头盔佩戴于患者头部;数据力反馈手套佩戴于患者手部;所述被动式柔顺末端执行器分别佩戴于患者前臂和上臂;所述上位机控制中心用于给出量化指标,以及控制虚拟训练画面的显示。本发明实现了上肢康复训练过程的安全化、科学化、趣味化、系统化和数据化。
Description
技术领域
本发明涉及上肢康复领域领域,具体涉及一种沉浸式上肢康复训练系统。
背景技术
随着生活水平的提高,老龄化人口的比例不断提高。脑卒中是老年人的高发病症,脑卒中引起偏瘫将极大的影响患者的日常生活。通过上肢康复机器人的系统科学的训练,偏瘫患者的患侧的肢体活动范围、肌肉力量、灵活性等都能有所恢复,提高日常生活能力。在康复过程中,目前根据康复师的经验进行,即使对于同一个患者进行同一个动作的训练也存在差别。对于患者的评估根据康复师的经验或者量表,存在较大误差。患者在康复过程中,往往过程较为枯噪,并且患病后的情绪较为低落,存在康复积极性差不愿配合等情况,影响到康复效果。
发明内容
本发明公开了一种沉浸式上肢康复训练系统,运用于上肢康复训练过程的锻炼,包括视觉传感器高度角度调节器、视觉传感器、被动式柔顺末端执行器、双臂康复机器人、底座、位置跟踪器、VR头盔、数据力反馈手套、VR第三视角显示仪、上位机控制中心,实现上肢康复训练过程的安全化、科学化、趣味化和数据化。
为实现上述目的,本发明的技术方案如下:
一种沉浸式上肢康复训练系统,包括:双臂康复机器人、底座、位置跟踪器、VR头盔、数据力反馈手套、上位机控制中心、被动式柔顺末端执行器,
所述的双臂康复机器人安装于底座上,通过两被动式柔顺末端执行器带动患者手臂进行运动;
所述的视觉传感器通过视觉传感器高度角度调节器安装于底座上,用于记录患者上肢的运动,提取患者上肢空间位置信息,并反馈控制双臂康复机器人的运动;
所述位置跟踪器安装于患者手臂上,用于实时采集患者手臂位置姿态信息,并将所采集的手臂位置姿态信息传入上位机控制中心作为双臂康复机器人的控制系统的反馈;
所述的VR头盔佩戴于患者头部,用于通过VR带给患者沉浸式训练体验;
所述数据力反馈手套佩戴于患者手部,用于加强沉浸式体验,提高患者在虚拟环境中的真实感,并为双臂康复机器人的控制提供力反馈参数;
所述的被动式柔顺末端执行器安装于所述双臂康复机器人末端并分别佩戴于患者前臂和上臂,通过充气式接触的手臂轴向畸位调整装置、动态弹性调整装置防止患者受到二次伤害和康复个性化;
所述上位机控制中心用于存储患者信息、根据所述手臂位置姿态信息对患者上肢活动范围、肌力等级、上肢协调性给出量化指标,以及控制患者虚拟环境下训练画面的显示。
进一步地,所述的位置跟踪器包括前臂位置跟踪器、上臂位置跟踪器,所述的前臂位置跟踪器、上臂位置跟踪器分别安装于患者的上臂和前臂上,用于实时采集患者前臂和上臂的位置姿态信息,并将所采集的手臂位置姿态信息传入上位机控制中心作为双臂康复机器人的控制系统的反馈。
进一步地,所述的双臂康复机器人通过所述的被动式柔顺末端执行器分别带动患者的上臂和前臂进行被动康复、主动康复及主被动康复,实现康复过程的科学化。
进一步地,所述的VR头盔具体用于使患者置身于虚拟现实环境中完成游戏和训练任务,实现康复过程的趣味化。
进一步地,所述患者信息包括患者的年龄、性别、病情、肌力等级、治疗时间、康复变化、肩关节活动范围、肘关节活动范围、手腕活动范围;所述上位机控制中心根据所述手臂位置姿态信息按照FM量表对患者上肢活动范围、肌力等级、上肢协调性给出量化指标。
进一步地,所述数据力反馈手套还用于在设置后,在游戏及任务中通过震动刺激患者手部,给予患者训练触觉反馈。
进一步地,所述的动态弹性调整装置包括安装板、动态调整外壳、端盖,弹簧、弹簧下挡块、直线轴承、伸缩柱,所述安装板、动态调整外壳、端盖通过螺钉由上至下依次连接,所述弹簧设置在所述动态调整外壳内,所述弹簧的上端与安装板相连接,下端通过弹簧下挡块与隙配合地穿过端盖并延伸至所述动态调整外壳内孔的伸缩柱一端固定连接,所述伸缩柱的另一端设置有连接法兰,所述直线轴承固定在所述动态调整外壳的内孔中且与所述伸缩柱滑动配合。
进一步地,所述的充气式接触的手臂轴向畸位调整装置包括:末端外圈、末端内圈、充气式手臂接触环,所述末端内圈同轴地转动设置在所述末端外圈的内孔中;所述的充气式手臂接触环固定设置在所述末端内圈的内孔中且随末端内圈同步转动。
进一步地,所述的末端外圈包括半圆形末端外圈上半部和末端外圈下半部,所述末端外圈上半部和末端外圈下半部的一端通过铰链活动连接,另一端通过替换式卡扣相插接;所述的末端内圈包括半圆形末端内圈上半部和末端内圈下半部,所述末端内圈上半部上设置有连接法兰,所述末端内圈上半部和末端内圈下半部的一端通过铰链活动连接,另一端通过替换式卡扣相插接。
进一步地,还包括VR第三视角显示仪,用于实时展示患者在VR环境中的画面,方便康复师对患者进行康复效果的观察。
与现有技术比较,本发明具有如下优点和技术效果:
本发明通过视觉传感器高度角度调节器、视觉传感器、被动式柔顺末端执行器、双臂康复机器人、底座、位置跟踪器、VR头盔、数据力反馈手套、VR第三视角显示仪、上位机控制中心实现上肢康复训练过程的安全化、科学化、趣味化、系统化、个性化和数据化。
附图说明
图1为本发明实施例的一种沉浸式上肢康复训练的系统示意图。
图2为本发明实施例中被动式柔顺末端执行器结构示意图。
图3为本发明实施例中被动式柔顺末端执行器剖面示意图。
图中所示:1:视觉传感器高度角度调节器、2:视觉传感器、3:被动式柔顺末端执行器、4:双臂康复机器人、5:底座、6-1:前臂位置跟踪器、6-2:上臂位置跟踪器、7:VR头盔、8:数据力反馈手套、9:VR第三视角显示仪、10:上位机控制中心、11:安装板、12:动态调整外壳、13:端盖、14:末端外圈上半部、15:充气式手臂接触环、16:末端外圈下半部、17:替换式卡扣、18:末端内圈下半部、19:末端内圈上半部、20:弹簧、21:弹簧下挡块、22:直线轴承。
具体实施方式
下面将结合具体实施例对本发明作进一步说明,但不限于此。
如图1所示,一种沉浸式上肢康复训练系统,包括:双臂康复机器人4、底座5、位置跟踪器、VR头盔7、数据力反馈手套8、上位机控制中心10、被动式柔顺末端执行器3、VR第三视角显示仪9,
所述的双臂康复机器人4安装于底座5上,通过两被动式柔顺末端执行器3分别带动患者的上臂和前臂进行被动康复、主动康复及主被动康复,实现康复过程的科学化;
所述的视觉传感器2通过视觉传感器高度角度调节器1安装于底座5上,用于记录患者上肢的运动,提取患者上肢空间位置信息,并反馈控制双臂康复机器人4的运动。所述视觉传感器高度角度调节器用于安装和调节视觉传感器,适应不同的病人身高、臂长、活动范围的参数,便于获得一个最佳的视觉观察角度。
所述位置跟踪器安装于患者手臂上,用于实时采集患者手臂位置姿态信息,并将所采集的手臂位置姿态信息传入上位机控制中心10作为双臂康复机器人4的控制系统的反馈;
所述的VR头盔7佩戴于患者头部,用于通过VR带给患者沉浸式训练体验,具体用于使患者置身于虚拟现实环境中完成游戏和训练任务,实现康复过程的趣味化;
所述数据力反馈手套8佩戴于患者手部,用于加强沉浸式体验,提高患者在虚拟环境中的真实感,并为双臂康复机器人4的控制提供力反馈参数;另外,所述数据力反馈手套8还用于在设置后,在游戏及任务中通过震动刺激患者手部,给予患者训练触觉反馈,以加强康复效果,实现康复过程的系统化。
所述的被动式柔顺末端执行器3安装于所述双臂康复机器人4末端并分别佩戴于患者前臂和上臂,通过充气式接触的手臂轴向畸位调整装置、动态弹性调整装置防止患者受到二次伤害和康复个性化;
所述上位机控制中心10采用电脑,用于存储包括患者的年龄、性别、病情、肌力等级、治疗时间、康复变化、肩关节活动范围、肘关节活动范围、手腕活动范围等患者信息、根据所述手臂位置姿态信息按照FM量表对患者上肢活动范围、肌力等级、上肢协调性给出量化指标,以及控制患者虚拟环境下训练画面的显示,实现康复过程的数据化。
所述VR第三视角显示仪9用于实时展示患者在VR环境中的画面,方便康复师对患者进行康复效果的观察。
所述的位置跟踪器包括前臂位置跟踪器6-1、上臂位置跟踪器6-2,所述的前臂位置跟踪器6-1、上臂位置跟踪器6-2分别安装于患者的上臂和前臂上,用于实时采集患者前臂和上臂的位置姿态信息,并将所采集的手臂位置姿态信息传入上位机控制中心10作为双臂康复机器人4的控制系统的反馈,实现实时监控和安全保护作用。
具体而言,如图2和图3所示,所述的动态弹性调整装置包括安装板11、动态调整外壳12、端盖13,弹簧20、弹簧下挡块21、直线轴承22、伸缩柱,所述安装板11、动态调整外壳12、端盖13通过螺钉由上至下依次连接,所述弹簧20设置在所述动态调整外壳12内,所述弹簧20的上端与安装板11相连接,下端通过弹簧下挡块21与隙配合地穿过端盖13并延伸至所述动态调整外壳12 内孔的伸缩柱一端固定连接,所述伸缩柱的另一端设置有连接法兰,所述直线轴承22固定在所述动态调整外壳12的内孔中且与所述伸缩柱滑动配合。
上述实施例中,当所述伸缩柱收到沿弹簧轴线方向的力时,弹簧20将会收缩。通过弹簧20吸收在控制过程中由于位置的偏差和患者的手臂震颤和拮抗等的能量,可实现被动柔性控制保护患者免受二次伤害。
具体而言,如图2和图3所示,所述的充气式接触的手臂轴向畸位调整装置包括:末端外圈、末端内圈、充气式手臂接触环15,所述末端内圈同轴地转动设置在所述末端外圈的内孔中;所述的充气式手臂接触环15固定设置在所述末端内圈的内孔中且随末端内圈同步转动。
所述的末端外圈包括半圆形末端外圈上半部14和末端外圈下半部16,所述末端外圈上半部14和末端外圈下半部16的一端通过铰链活动连接,另一端通过替换式卡扣17相插接;所述的末端内圈包括半圆形末端内圈上半部19和末端内圈下半部18,所述末端内圈上半部19上设置有连接法兰,所述末端内圈上半部19和末端内圈下半部18的一端通过铰链活动连接,另一端通过替换式卡扣17相插接,方便拆卸和佩戴。末端内圈同轴地转动设置在所述末端外圈的内孔中,即末端内圈可在末端外圈的内孔中相对地同轴转动,但不能轴向窜动,满足手臂轴向畸位患者的使用;充气式手臂接触环15固定设置在所述末端内圈的内孔中且可随末端内圈同步转动,所述的充气式手臂接触环的外周壁固定在所述末端内圈的内孔壁上,上述实施例可通过充气量的大小来控制充气式手臂接触环15内孔的大小,从而适用于不同手臂尺寸参数的患者。充气式相对于传统的刚性接触还具有缓冲保护作用。另外,在充气式手臂接触环15的内周壁上采用了大摩擦系数的布料可防止手臂与机械臂连接位置的相对变化,防止错位引起二次伤害。
综上所述,本发明通过设置视觉传感器高度角度调节器1、视觉传感器2、被动式柔顺末端执行器3、双臂康复机器人4、底座5、位置跟踪器、VR头盔7、数据力反馈手套8、VR第三视角显示仪9、上位机控制中心10实现了上肢康复训练过程的安全化、科学化、趣味化、系统化、个性化和数据化。
根据上述说明书的揭示和教导,本发明所属领域的技术人员还可以对上述实施方式进行变更和修改。因此,本发明并不局限于上面揭示和描述的具体实施方式,对本发明的一些修改和变更也应当落入本发明的权利要求的保护范围内。
Claims (10)
1.一种沉浸式上肢康复训练系统,其特征在于,包括:双臂康复机器人(4)、底座(5)、位置跟踪器、VR头盔(7)、数据力反馈手套(8)、上位机控制中心(10)、被动式柔顺末端执行器(3),
所述的双臂康复机器人(4)安装于底座(5)上,通过两被动式柔顺末端执行器(3)带动患者手臂进行运动;
所述的视觉传感器(2)通过视觉传感器高度角度调节器(1)安装于底座(5)上,用于记录患者上肢的运动,提取患者上肢空间位置信息,并反馈控制双臂康复机器人(4)的运动;
所述位置跟踪器安装于患者手臂上,用于实时采集患者手臂位置姿态信息,并将所采集的手臂位置姿态信息传入上位机控制中心(10)作为双臂康复机器人(4)的控制系统的反馈;
所述的VR头盔(7)佩戴于患者头部,用于通过VR带给患者沉浸式训练体验;
所述数据力反馈手套(8)佩戴于患者手部,用于加强沉浸式体验,提高患者在虚拟环境中的真实感,并为双臂康复机器人(4)的控制提供力反馈参数;
所述的被动式柔顺末端执行器(3)安装于所述双臂康复机器人(4)末端并分别佩戴于患者前臂和上臂,通过充气式接触的手臂轴向畸位调整装置、动态弹性调整装置防止患者受到二次伤害和康复个性化;
所述上位机控制中心(10)用于存储患者信息、根据所述手臂位置姿态信息对患者上肢活动范围、肌力等级、上肢协调性给出量化指标,以及控制患者虚拟环境下训练画面的显示。
2.根据权利要求1所述的沉浸式上肢康复训练系统,其特征在于,所述的位置跟踪器包括前臂位置跟踪器(6-1)、上臂位置跟踪器(6-2),所述的前臂位置跟踪器(6-1)、上臂位置跟踪器(6-2)分别安装于患者的上臂和前臂上,用于实时采集患者前臂和上臂的位置姿态信息,并将所采集的手臂位置姿态信息传入上位机控制中心(10)作为双臂康复机器人(4)的控制系统的反馈。
3.根据权利要求1所述的沉浸式上肢康复训练系统,其特征在于,所述的双臂康复机器人(4)通过所述的被动式柔顺末端执行器(3)分别带动患者的上臂和前臂进行被动康复、主动康复及主被动康复。
4.根据权利要求1所述的沉浸式上肢康复训练系统,其特征在于,所述的VR头盔(7)具体用于使患者置身于虚拟现实环境中完成游戏和训练任务,实现康复过程的趣味化。
5.根据权利要求1所述的沉浸式上肢康复训练系统,其特征在于,所述患者信息包括患者的年龄、性别、病情、肌力等级、治疗时间、康复变化、肩关节活动范围、肘关节活动范围、手腕活动范围;所述上位机控制中心(10)根据所述手臂位置姿态信息按照FM量表对患者上肢活动范围、肌力等级、上肢协调性给出量化指标。
6.根据权利要求1所述的沉浸式上肢康复训练系统,其特征在于:所述数据力反馈手套(8)还用于在设置后,在游戏及任务中通过震动刺激患者手部,给予患者训练触觉反馈。
7.根据权利要求1所述的沉浸式上肢康复训练系统,其特征在于,所述的动态弹性调整装置包括安装板(11)、动态调整外壳(12)、端盖(13),弹簧(20)、弹簧下挡块(21)、直线轴承(22)、伸缩柱,所述安装板(11)、动态调整外壳(12)、端盖(13)通过螺钉由上至下依次连接,所述弹簧(20)设置在所述动态调整外壳(12)内,所述弹簧(20)的上端与安装板(11)相连接,下端通过弹簧下挡块(21)与隙配合地穿过端盖(13)并延伸至所述动态调整外壳(12)内孔的伸缩柱一端固定连接,所述伸缩柱的另一端设置有连接法兰,所述直线轴承(22)固定在所述动态调整外壳(12)的内孔中且与所述伸缩柱滑动配合。
8.根据权利要求1所述的沉浸式上肢康复训练系统,其特征在于,所述的充气式接触的手臂轴向畸位调整装置包括:末端外圈、末端内圈、充气式手臂接触环(15),所述末端内圈同轴地转动设置在所述末端外圈的内孔中;所述的充气式手臂接触环(15)固定设置在所述末端内圈的内孔中且随末端内圈同步转动。
9.根据权利要求8所述的沉浸式上肢康复训练系统,其特征在于,所述的末端外圈包括半圆形末端外圈上半部(14)和末端外圈下半部(16),所述末端外圈上半部(14)和末端外圈下半部(16)的一端通过铰链活动连接,另一端通过替换式卡扣(17)相插接;所述的末端内圈包括半圆形末端内圈上半部(19)和末端内圈下半部(18),所述末端内圈上半部(19)上设置有连接法兰,所述末端内圈上半部(19)和末端内圈下半部(18)的一端通过铰链活动连接,另一端通过替换式卡扣(17)相插接。
10.根据权利要求1所述的沉浸式上肢康复训练系统,其特征在于,还包括VR第三视角显示仪(9),用于实时展示患者在VR环境中的画面,方便康复师对患者进行康复效果的观察。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811354131.4A CN109363888A (zh) | 2018-11-14 | 2018-11-14 | 一种沉浸式上肢康复训练系统 |
CN201880093210.6A CN113164314B (zh) | 2018-11-14 | 2018-12-28 | 一种沉浸式上肢康复训练系统 |
US16/630,461 US11458382B2 (en) | 2018-11-14 | 2018-12-28 | Immersive upper limb rehabilitation training system |
PCT/CN2018/124878 WO2020098112A1 (zh) | 2018-11-14 | 2018-12-28 | 一种沉浸式上肢康复训练系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811354131.4A CN109363888A (zh) | 2018-11-14 | 2018-11-14 | 一种沉浸式上肢康复训练系统 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN109363888A true CN109363888A (zh) | 2019-02-22 |
Family
ID=65388851
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811354131.4A Pending CN109363888A (zh) | 2018-11-14 | 2018-11-14 | 一种沉浸式上肢康复训练系统 |
CN201880093210.6A Active CN113164314B (zh) | 2018-11-14 | 2018-12-28 | 一种沉浸式上肢康复训练系统 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201880093210.6A Active CN113164314B (zh) | 2018-11-14 | 2018-12-28 | 一种沉浸式上肢康复训练系统 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11458382B2 (zh) |
CN (2) | CN109363888A (zh) |
WO (1) | WO2020098112A1 (zh) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109692457A (zh) * | 2019-02-28 | 2019-04-30 | 焦作大学 | 一种虚拟现实康复训练系统及控制方法 |
CN109846673A (zh) * | 2019-03-11 | 2019-06-07 | 上海大学 | 一种共融型双臂康复训练机器人 |
CN110123573A (zh) * | 2019-04-18 | 2019-08-16 | 华南理工大学 | 一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统 |
CN110201358A (zh) * | 2019-07-05 | 2019-09-06 | 中山大学附属第一医院 | 基于虚拟现实和运动再学习的上肢康复训练系统及方法 |
CN110742775A (zh) * | 2019-10-12 | 2020-02-04 | 东南大学 | 基于力反馈技术的上肢主被动康复训练机器人系统 |
CN111589058A (zh) * | 2020-04-23 | 2020-08-28 | 苏州爱宝利恩康复科技有限公司 | 一种带有力反馈功能的上肢康复机器人 |
CN111888194A (zh) * | 2020-08-06 | 2020-11-06 | 广州一康医疗设备实业有限公司 | 一种上肢康复训练方法、系统、装置及存储介质 |
CN113101137A (zh) * | 2021-04-06 | 2021-07-13 | 合肥工业大学 | 一种基于运动映射和虚拟现实的上肢康复机器人 |
CN114177588A (zh) * | 2021-12-13 | 2022-03-15 | 南京伟思医疗科技股份有限公司 | 一种康复机器人的振动反馈系统、方法及装置 |
CN114522067A (zh) * | 2022-02-21 | 2022-05-24 | 中山大学附属第一医院 | 一种沉浸式上下肢康复训练系统 |
CN115364445A (zh) * | 2022-08-18 | 2022-11-22 | 南方医科大学南方医院 | 一种乳腺癌术后上肢功能康复训练系统 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114053088B (zh) * | 2020-07-30 | 2023-07-25 | 中国人民解放军空军军医大学 | 骨科手臂康复训练装置 |
CN112245224A (zh) * | 2020-10-21 | 2021-01-22 | 中国科学院宁波材料技术与工程研究所慈溪生物医学工程研究所 | 一种肘关节镜像康复训练装置 |
CN113713333B (zh) * | 2021-08-25 | 2022-08-05 | 西安交通大学 | 一种下肢康复全训练过程的动态虚拟诱导方法及系统 |
CN113633937A (zh) * | 2021-08-26 | 2021-11-12 | 东北大学 | 虚拟现实上肢康复作业治疗系统 |
CN114404881B (zh) * | 2022-01-07 | 2023-08-29 | 冯雪 | 一种神经内科下肢康复训练装置 |
CN114344842A (zh) * | 2022-01-14 | 2022-04-15 | 复旦大学 | 一种坐立式上肢康复训练装置 |
TWI799223B (zh) * | 2022-04-01 | 2023-04-11 | 國立臺中科技大學 | 肌力評估教學虛擬實境系統 |
CN114849178A (zh) * | 2022-06-01 | 2022-08-05 | 滨州医学院烟台附属医院 | 一种用于脑卒中患者的多功能上肢功能训练器 |
CN116141385B (zh) * | 2023-04-25 | 2023-06-27 | 江西明天高科技股份有限公司 | 一种力反馈机械臂多功能测试台及其测试方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101401765A (zh) * | 2008-09-05 | 2009-04-08 | 清华大学 | 一种训练平面可调式上肢偏瘫康复机器人装置 |
CN102138860A (zh) * | 2011-01-10 | 2011-08-03 | 西安交通大学 | 一种智能化脑损伤患者手功能康复训练设备 |
US20110300994A1 (en) * | 2008-11-19 | 2011-12-08 | Industrial Research Limited | Exercise Device and System |
CN104991639A (zh) * | 2015-05-27 | 2015-10-21 | 中国康复研究中心 | 虚拟现实康复训练系统及方法 |
CN104997523A (zh) * | 2014-04-18 | 2015-10-28 | 东北大学 | 一种上肢康复机器人康复训练运动功能评价方法 |
CN106456431A (zh) * | 2014-03-27 | 2017-02-22 | 卢万天主教大学 | 上肢康复、监测和/或评估的交互装置 |
CN108309692A (zh) * | 2018-02-28 | 2018-07-24 | 裴文平 | 一种手部指骨损伤术后康复训练器械 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2839916B1 (fr) * | 2002-05-22 | 2004-10-15 | Agence Spatiale Europeenne | Exosquelette pour bras humain, notamment pour des applications spatiales |
JP2008521454A (ja) * | 2004-11-30 | 2008-06-26 | アイトゲネッシーシェ テヒニッシェ ホッホシューレ チューリッヒ | 協調的腕治療のためのシステムおよび方法ならびに対応する回転モジュール |
US8834169B2 (en) * | 2005-08-31 | 2014-09-16 | The Regents Of The University Of California | Method and apparatus for automating arm and grasping movement training for rehabilitation of patients with motor impairment |
US20080009771A1 (en) * | 2006-03-29 | 2008-01-10 | Joel Perry | Exoskeleton |
US20090131225A1 (en) * | 2007-08-15 | 2009-05-21 | Burdea Grigore C | Rehabilitation systems and methods |
US20120157263A1 (en) * | 2009-01-20 | 2012-06-21 | Mark Sivak | Multi-user smartglove for virtual environment-based rehabilitation |
CN101574297B (zh) | 2009-06-04 | 2011-06-08 | 浙江大学 | 基于虚拟现实的残障人士康复系统 |
CN102567638B (zh) * | 2011-12-29 | 2018-08-24 | 无锡微感科技有限公司 | 一种基于微型传感器的交互式上肢康复系统 |
CN102813998B (zh) | 2012-08-01 | 2015-01-14 | 上海交通大学 | 中枢神经损伤患者用多功能复合康复系统 |
TWI554262B (zh) * | 2013-05-13 | 2016-10-21 | Univ Nat Taiwan | Limb rehabilitation and training system |
WO2015099858A2 (en) * | 2013-09-30 | 2015-07-02 | Board Of Regents, The University Of Texas System | Upper-body robotic exoskeleton |
US10417931B2 (en) * | 2014-07-03 | 2019-09-17 | Teijin Pharma Limited | Rehabilitation assistance device and program for controlling rehabilitation assistance device |
KR101864709B1 (ko) * | 2016-05-10 | 2018-06-07 | 한국과학기술연구원 | 상지 재활 장치 |
WO2017219226A1 (zh) | 2016-06-21 | 2017-12-28 | 马玉琴 | 康复训练系统、计算机、智能机械手臂以及虚拟现实头盔 |
US20190201273A1 (en) * | 2016-09-09 | 2019-07-04 | Qatar Foundation For Education, Science, And Community Development | Robotic upper limb rehabilitation device |
WO2018140802A1 (en) * | 2017-01-27 | 2018-08-02 | The Johns Hopkins University | Rehabilitation and training gaming system to promote cognitive-motor engagement description |
CN207384754U (zh) * | 2017-08-30 | 2018-05-22 | 浙江越秀外国语学院 | 一种体育教学用平衡性训练系统 |
CN107595547B (zh) | 2017-09-18 | 2024-04-16 | 华南理工大学 | 一种用于上肢康复训练的双臂机器人 |
CN210583038U (zh) * | 2018-11-14 | 2020-05-22 | 华南理工大学 | 一种沉浸式上肢康复训练系统 |
-
2018
- 2018-11-14 CN CN201811354131.4A patent/CN109363888A/zh active Pending
- 2018-12-28 CN CN201880093210.6A patent/CN113164314B/zh active Active
- 2018-12-28 US US16/630,461 patent/US11458382B2/en active Active
- 2018-12-28 WO PCT/CN2018/124878 patent/WO2020098112A1/zh active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101401765A (zh) * | 2008-09-05 | 2009-04-08 | 清华大学 | 一种训练平面可调式上肢偏瘫康复机器人装置 |
US20110300994A1 (en) * | 2008-11-19 | 2011-12-08 | Industrial Research Limited | Exercise Device and System |
CN102138860A (zh) * | 2011-01-10 | 2011-08-03 | 西安交通大学 | 一种智能化脑损伤患者手功能康复训练设备 |
CN106456431A (zh) * | 2014-03-27 | 2017-02-22 | 卢万天主教大学 | 上肢康复、监测和/或评估的交互装置 |
CN104997523A (zh) * | 2014-04-18 | 2015-10-28 | 东北大学 | 一种上肢康复机器人康复训练运动功能评价方法 |
CN104991639A (zh) * | 2015-05-27 | 2015-10-21 | 中国康复研究中心 | 虚拟现实康复训练系统及方法 |
CN108309692A (zh) * | 2018-02-28 | 2018-07-24 | 裴文平 | 一种手部指骨损伤术后康复训练器械 |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109692457A (zh) * | 2019-02-28 | 2019-04-30 | 焦作大学 | 一种虚拟现实康复训练系统及控制方法 |
CN109846673A (zh) * | 2019-03-11 | 2019-06-07 | 上海大学 | 一种共融型双臂康复训练机器人 |
CN109846673B (zh) * | 2019-03-11 | 2020-05-15 | 上海大学 | 一种共融型双臂康复训练机器人 |
CN110123573B (zh) * | 2019-04-18 | 2021-10-26 | 华南理工大学 | 一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统 |
CN110123573A (zh) * | 2019-04-18 | 2019-08-16 | 华南理工大学 | 一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统 |
WO2020211331A1 (zh) * | 2019-04-18 | 2020-10-22 | 华南理工大学 | 一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统 |
CN110201358A (zh) * | 2019-07-05 | 2019-09-06 | 中山大学附属第一医院 | 基于虚拟现实和运动再学习的上肢康复训练系统及方法 |
CN110742775A (zh) * | 2019-10-12 | 2020-02-04 | 东南大学 | 基于力反馈技术的上肢主被动康复训练机器人系统 |
CN111589058A (zh) * | 2020-04-23 | 2020-08-28 | 苏州爱宝利恩康复科技有限公司 | 一种带有力反馈功能的上肢康复机器人 |
CN111888194A (zh) * | 2020-08-06 | 2020-11-06 | 广州一康医疗设备实业有限公司 | 一种上肢康复训练方法、系统、装置及存储介质 |
CN113101137A (zh) * | 2021-04-06 | 2021-07-13 | 合肥工业大学 | 一种基于运动映射和虚拟现实的上肢康复机器人 |
CN113101137B (zh) * | 2021-04-06 | 2023-06-02 | 合肥工业大学 | 一种基于运动映射和虚拟现实的上肢康复机器人 |
CN114177588A (zh) * | 2021-12-13 | 2022-03-15 | 南京伟思医疗科技股份有限公司 | 一种康复机器人的振动反馈系统、方法及装置 |
CN114177588B (zh) * | 2021-12-13 | 2022-11-11 | 南京伟思医疗科技股份有限公司 | 一种康复机器人的振动反馈系统、方法及装置 |
CN114522067A (zh) * | 2022-02-21 | 2022-05-24 | 中山大学附属第一医院 | 一种沉浸式上下肢康复训练系统 |
CN115364445A (zh) * | 2022-08-18 | 2022-11-22 | 南方医科大学南方医院 | 一种乳腺癌术后上肢功能康复训练系统 |
CN115364445B (zh) * | 2022-08-18 | 2023-10-13 | 南方医科大学南方医院 | 一种乳腺癌术后上肢功能康复训练系统 |
Also Published As
Publication number | Publication date |
---|---|
CN113164314B (zh) | 2022-06-10 |
CN113164314A (zh) | 2021-07-23 |
US20210060406A1 (en) | 2021-03-04 |
WO2020098112A1 (zh) | 2020-05-22 |
US11458382B2 (en) | 2022-10-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109363888A (zh) | 一种沉浸式上肢康复训练系统 | |
US8968220B2 (en) | Wearable robotic system for rehabilitation training of the upper limbs | |
Sugar et al. | Design and control of RUPERT: a device for robotic upper extremity repetitive therapy | |
Ates et al. | SCRIPT passive orthosis: design and technical evaluation of the wrist and hand orthosis for rehabilitation training at home | |
CN109222909B (zh) | 一种可穿戴式智能监测装置及监测运动、脊椎弯曲和关节磨损的方法 | |
Zhang et al. | An active neck brace controlled by a joystick to assist head motion | |
Sui et al. | Design of a wearable upper-limb exoskeleton for activities assistance of daily living | |
JP2014519945A (ja) | 外傷肢を回復させるための装置および方法 | |
Georgarakis et al. | Simplifying exosuits: Kinematic couplings in the upper extremity during daily living tasks | |
Doss et al. | A comprehensive review of wearable assistive robotic devices used for head and neck rehabilitation | |
EP3895679B1 (en) | Handheld-rehabilitation-device | |
Liu et al. | A novel 10-DoF exoskeleton rehabilitation robot based on the postural synergies of upper extremity movements | |
CN210583038U (zh) | 一种沉浸式上肢康复训练系统 | |
Thalagala et al. | A 4 DOF exoskeleton robot with a novel shoulder joint mechanism | |
Lee et al. | Compact design of a robotic device for shoulder rehabilitation | |
Simpson | Wearable devices for physical assistance: enhancing capabilities after stroke and in running | |
US20240148593A1 (en) | Apparatus for limb rehabilitation and method of using same | |
AU2022268318B2 (en) | Smart wearable device | |
JP7429376B1 (ja) | スマートウェアラブルデバイス | |
Miro et al. | SMA Actuator Usage in Upper Limb Rehabilitation Technology | |
US11596831B2 (en) | System and method for providing indirect movement feedback during sensorimotor function rehabilitation and enhancement | |
US20240148301A1 (en) | Smart wearable device | |
Yeğin | Myoelectric-Controlled Exoskeleton System Design for Daily Activities and Paralytic Hand Rehabilitation | |
Zhang et al. | Physiological and kinematic effects of a parallel rehabilitation robot (PWRR) on wrist movements | |
Vasquez et al. | Evaluation of a Passive Wearable Device for Post-Stroke Shoulder Abduction Support |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190222 |
|
WD01 | Invention patent application deemed withdrawn after publication |