CN109907941A - A kind of wrist rehabilitation control device based on focus level - Google Patents
A kind of wrist rehabilitation control device based on focus level Download PDFInfo
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- CN109907941A CN109907941A CN201910262707.2A CN201910262707A CN109907941A CN 109907941 A CN109907941 A CN 109907941A CN 201910262707 A CN201910262707 A CN 201910262707A CN 109907941 A CN109907941 A CN 109907941A
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 210000004556 brain Anatomy 0.000 claims abstract description 34
- 230000003340 mental effect Effects 0.000 claims abstract description 6
- 230000037147 athletic performance Effects 0.000 claims abstract description 4
- 230000000007 visual effect Effects 0.000 claims description 16
- 238000012549 training Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 7
- 210000000988 bone and bone Anatomy 0.000 claims description 4
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- 238000013461 design Methods 0.000 claims description 3
- 210000001061 forehead Anatomy 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 3
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- 230000000386 athletic effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000007996 neuronal plasticity Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/369—Electroencephalography [EEG]
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- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—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
- A63B23/14—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 for wrist joints
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- 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
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- 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
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
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Abstract
A kind of wrist rehabilitation control device based on focus level, including brain wave acquisition device, the output of brain wave acquisition device is connected by bluetooth with the input of computer end, the output of computer end is connected by bluetooth with the input of ectoskeleton controller, and the output of ectoskeleton controller is connected with the input of exoskeleton rehabilitation equipment；In the active mode, computer end is sent to by bluetooth after absorbed angle value when brain wave acquisition device acquisition patient carries out Mental imagery, after focus reaches given threshold, ectoskeleton open command is sent to ectoskeleton controller by bluetooth by computer end, ectoskeleton controller control exoskeleton rehabilitation equipment is moved, to complete corresponding rehabilitation movement；Under Passive Mode, focus level is still acquired, but control instruction is transmitted directly to ectoskeleton controller after athletic performance selection by computer end, the comparison without focus threshold value at this time；Present invention reduces control cost and difficulty, are easy to be promoted in the family.
Description
Technical field
The present invention relates to human motion rehabilitation technique fields, and in particular to a kind of wrist rehabilitation control based on focus level
Device processed.
Background technique
Cerebral apoplexy, also known as " apoplexy ", are a kind of acute cerebrovascular diseases, easily cause obstacle of limb movement, at me
State's disease incidence increases year by year, it has also become the first cause of China adult disability.Wrist is the most commonly used one of the joint of human body,
Since wrist is required to transmission force and torque has carried out the movement of field hand, structure is complicated, and rehabilitation difficulty is larger, is brain soldier
In after athletic rehabilitation difficulties.The training of science can help patient's reconstruction or improve to suffer from hand function.It is continuous passive
Movement (CPM) is a kind of method of common athletic rehabilitation, and rehabilitation expert thinks that patient to be ensured can be positive participates in health
During refreshment is practiced, and then neural plasticity is improved, to reach optimal rehabilitation effect.
Currently, rehabilitation training, mainly based on passive rehabilitation, physiatrician carries out the rehabilitation of " one-to-one ", patient to patient
Hand corresponding rehabilitation movement is carried out under the drive of rehabilitation teacher, rehabilitation efficacy is largely dependent upon the water of rehabilitation teacher
It is flat, expend a large amount of man power and material.Robot " rehabilitation teacher " is known as effective method of rehabilitation, reduces the negative of rehabilitation teacher
Load.But the motor mindedness of patient can not be added thereto by passive rehabilitation.Rehabilitation expert thinks, so that the participation health that patient is positive
The neural plasticity of patient can be effectively improved in multiple movement, and then improves rehabilitation efficacy.Traditional Mental imagery brain machine connects
Jaws equipment is at high price, is currently used primarily in research institution's either large hospital, this makes it be difficult to be pushed away in the family
Extensively.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the object of the present invention is to provide a kind of based on focus level
Wrist rehabilitation control device reduces control cost and difficulty, is easy to be promoted in the family.
In order to achieve the above object, the technical solution adopted by the present invention is that:
A kind of wrist rehabilitation control device based on focus level, including brain wave acquisition device 1, brain wave acquisition device 1
Output connect with the input of computer end 2 by bluetooth, the input that the output of computer end 2 passes through bluetooth and ectoskeleton controller 3
Connection, the output of ectoskeleton controller 3 are connected with the input of exoskeleton rehabilitation equipment 4；
In the active mode, brain wave acquisition device 1 passes through bluetooth after acquiring absorbed angle value when patient carries out Mental imagery
It is sent to computer end 2, after focus reaches given threshold, ectoskeleton open command is sent to outer by computer end 2 by bluetooth
Bone controller 3, ectoskeleton controller 3 control exoskeleton rehabilitation equipment 4 and are moved, to complete corresponding rehabilitation movement；
Under Passive Mode, focus level is still acquired, but computer end 2 is straight by control instruction after athletic performance selection
Ectoskeleton controller 3 is given in sending and receiving, at this time the comparison without focus threshold value.
The brain wave acquisition device 1 is worn on the forehead of user, acquires the brain electric information of user, and come with this
Calculate its focus；Brain wave acquisition device 1 uses BrainLink equipment, and the eeg signal by acquiring different frequency range passes through
The focus that algorithm calculates user in real time is horizontal.
The brain wave acquisition device 1 is compared after collecting the absorbed angle value of user with the threshold value of setting, works as user
Real-time focus sends ectoskeleton open command to computer end 2 more than after given threshold, is absorbed in angle value and is responsible for as " switching value "
The open and close of ectoskeleton；Meanwhile Grads threshold makes patient carry out corresponding impedance training, patient needs to change its focus
Level realizes the bending angle in different rehabilitations movement.
The computer end 2 handles focus, and threshold value is divided into different brackets, and different grades of threshold value corresponds to wrist
Different bending angle in rehabilitation movement, impedance training is realized by setting different threshold gradients.
The computer end 2 is equipped with the gui interface composition that MATLAB is write, and gui interface is integrated with bluetooth connection area
201, rehabilitation movement selection area 202, model selection area 203, focus threshold value set area 204, visual cues area 205 and are absorbed in
Spend real-time display area 206；The size, color and position of each region and internal component number carry out certainly acording to the requirement of user
Definition design and setting；Bluetooth connection area 201 is made of bluetooth connection button 20101 and removing serial ports 20102；Rehabilitation movement choosing
Area 202 is selected to be made of several movement selection keys 20201 and reset key 20202；Model selection area 203 is by aggressive mode button
20301 and Passive Mode button 20302 form；Focus threshold value sets area 204 by focus threshold value input frame 20401 and setting
Button 20402 forms, by setting different focus threshold value and focus threshold gradient to adapt to different patients and not
Same rehabilitation period；Focus real-time display area 206 shows that item 20602 forms by focus display box 20601 and focus, leads to
Crossing focus real-time display area 206, to user feedback, it is absorbed in angle value in real time, informs that the current focus of user is horizontal with this.
The application method of the computer end 2 are as follows: firstly, pressing the bluetooth connection button 20101 in bluetooth connection area 201
Afterwards, computer end 2 can be connect by bluetooth with brain wave acquisition device 1 and ectoskeleton controller 3, remove serial ports 20102 for removing
Bluetooth serial ports is that connection is prepared next time；After bluetooth connection success, the absorbed angle value collected of brain wave acquisition device 1 will be real-time
Ground is shown in focus real-time display area 206, and focus level value is shown in focus display box 20601, and focus shows item
Currently absorbed angle value is apart from extreme value, that is, maximum value, the distance of minimum value for 20602 intuitive reflections, so that user is to the special of oneself
Note degree level has intuitive understanding；After rehabilitation movement selection area 202 selects different movement selection keys 20201, visual cues
Area 205 can repeat playing corresponding prompt action, further to stimulate patient to improve focus；After reset key 20202 is pressed,
Numerical value reverts to initial value in focus display box 20601, and focus shows that item 20602 returns to initial position, visual cues area
205 can stop visual cues, and the focus of patient is improved by visual cues area 205, with this come improve device triggering at
Power and rehabilitation efficacy；In addition to this computer end 2 can be handled absorbed value, and focus threshold value is set in area 204, focus
After threshold value inputs and press setting button 20402 by input frame 20401, the setting of focus threshold value is completed, when absorbed angle value reaches
Pass through bluetooth when to set threshold value and sends open command to ectoskeleton controller 3.
The ectoskeleton controller 3 is made of main control chip 301, bluetooth module 302 and control box 303, master control core
Piece 301, bluetooth module 302 are encapsulated in control box 303, and control box 303 is invested on patient's arm by wearable structure, or
It is placed on desktop；I/O mouth by controlling chip 301 connects different exoskeleton rehabilitation equipment 4.
The main control chip 301 uses HC05 (HC-05) using Arduino Uno, bluetooth module 302；Control
Box 303 is made of lower cover 30301 and upper cover 30302.
The invention has the benefit that
1, the present invention calculates the absorbed angle value of user in real time, and traditional brain machine is replaced to connect using focus control program
Mouth scheme (Mental imagery, stable state vision inducting etc.), reduces control cost, while so that brain control equipment is more universal, allows
Patient is actively engaged in rehabilitation training.
2, by may be programmed interface, rehabilitation teacher can choose different rehabilitation movements, this facilitate that the progress of rehabilitation movement.
Patient further promotes focus by visual cues, to more put into rehabilitation training.
3, the mode that passive rehabilitation is combined with initiative rehabilitation, passive rehabilitation mode are that ectoskeleton controller 3 controls dermoskeleton
Bone rehabilitation equipment 4 moves back and forth, and does not need the patient's active consciousness i.e. addition of focus；And aggressive mode is by patient oneself
Focus horizontally openable.Passive rehabilitation ensures rehabilitation task amount, and the nerve that initiative rehabilitation mode further promotes patient is plastic
Property, the common validity for promoting rehabilitation of the two cooperation.
Detailed description of the invention
Fig. 1 is single unit system composition schematic diagram of the invention.
Fig. 2 is 2 interface schematic diagram of computer end of the invention.
Fig. 3 is 3 schematic diagram of ectoskeleton controller of the invention.
Fig. 4 is control system flow chart of the invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
Referring to Fig.1, a kind of wrist rehabilitation control device based on focus level, including brain wave acquisition device 1, brain electricity are adopted
The output of acquisition means 1 is connected by bluetooth with the input of computer end 2, and the output of computer end 2 passes through bluetooth and ectoskeleton controller 3
Input connection, the output of ectoskeleton controller 3 connects with the input of exoskeleton rehabilitation equipment 4；
In the active mode, brain wave acquisition device 1 passes through bluetooth after acquiring absorbed angle value when patient carries out Mental imagery
It is sent to computer end 2, after focus reaches given threshold, ectoskeleton open command is sent to outer by computer end 2 by bluetooth
Bone controller 3, ectoskeleton controller 3 control exoskeleton rehabilitation equipment 4 and are moved, to complete corresponding rehabilitation movement；
Under Passive Mode, focus level is still acquired, but computer end 2 is straight by control instruction after athletic performance selection
Ectoskeleton controller 3 is given in sending and receiving, at this time the comparison without focus threshold value.
The brain wave acquisition device 1 is worn on the forehead of user, acquires the brain electric information of user, and come with this
Calculate its focus；Brain wave acquisition device 1 uses BrainLink equipment, and the eeg signal by acquiring different frequency range passes through
The focus that algorithm calculates user in real time is horizontal.
The brain wave acquisition device 1 is compared after collecting the absorbed angle value of user with the threshold value of setting, works as user
Real-time focus sends ectoskeleton open command to computer end 2 more than after given threshold, is absorbed in angle value and is responsible for as " switching value "
The open and close of ectoskeleton；Meanwhile Grads threshold makes patient carry out corresponding impedance training, patient needs to change its focus
Level realizes the bending angle in different rehabilitations movement.
The computer end 2 handles focus, and threshold value is divided into different brackets, and different grades of threshold value corresponds to wrist
Different bending angle in rehabilitation movement, impedance training is realized by setting different threshold gradients.
Referring to Fig. 2, the computer end 2 is equipped with the gui interface write by MATLAB, and gui interface is integrated with bluetooth company
Connect area 201, rehabilitation movement selection area 202, model selection area 203, focus threshold value setting area 204, visual cues area 205 and
Focus real-time display area 206；The size, color and position of each region and internal component number acording to the requirement of user into
Row self-definition design and setting；Bluetooth connection area 201 is made of bluetooth connection button 20101 and removing serial ports 20102；Rehabilitation is dynamic
The area 202 that elects is made of several movement selection keys 20201 and reset key 20202；Model selection area 203 is by aggressive mode
Button 20301 and Passive Mode button 20302 form；Focus threshold value sets area 204 by 20401 He of focus threshold value input frame
Button 20402 is set to form；Focus real-time display area 206 shows 20602 groups of item by focus display box 20601 and focus
At.
The application method of the computer end 2 are as follows: firstly, pressing the bluetooth connection button 20101 in bluetooth connection area 201
Afterwards, computer end 2 can be connect by bluetooth with brain wave acquisition device 1 and ectoskeleton controller 3, remove serial ports 20102 for removing
Bluetooth serial ports is that connection is prepared next time；After bluetooth connection success, the absorbed angle value collected of brain wave acquisition device 1 will be real-time
Ground is shown in focus real-time display area 206, and focus level value is shown in focus display box 20601, and focus shows item
Currently absorbed angle value is apart from extreme value, that is, maximum value, the distance of minimum value for 20602 intuitive reflections, so that user is to the special of oneself
Note degree level has intuitive understanding；After rehabilitation movement selection area 202 selects different movement selection keys 20201, visual cues
Area 205 can repeat playing corresponding prompt action, further to stimulate patient to improve focus；After reset key 20202 is pressed,
Numerical value reverts to initial value in focus display box 20601, and focus shows that item 20602 returns to initial position, visual cues area
205 can stop visual cues, and the focus of patient is improved by visual cues area 205, with this come improve device triggering at
Power and rehabilitation efficacy；In addition to this computer end 2 can be handled absorbed value, and focus threshold value is set in area 204, focus
After threshold value inputs and press setting button 20402 by input frame 20401, the setting of focus threshold value is completed, when absorbed angle value reaches
Pass through bluetooth when to set threshold value and sends open command to ectoskeleton controller 3.
Referring to Fig. 3, the ectoskeleton controller 3 is by 303 groups of box of main control chip 301, bluetooth module 302 and control
At main control chip 301, bluetooth module 302 are encapsulated in control box 303, are controlled box 303 by wearable structure and are invested patient
It on arm, or is placed on desktop, the I/O mouth by controlling chip 301 connects different exoskeleton rehabilitation equipment 4.
The main control chip 301 uses HC05 (HC-05) using Arduino Uno, bluetooth module 302；Control
Box 303 is made of lower cover 30301 and upper cover 30302.
The operation principle of the present invention is that:
Referring to Fig. 4, the present invention is shown in addition to realizing that controlling other ectoskeletons moves, also with focus and active
With Passive Mode selection function；More Grads threshold settings are carried out first, then the selection acted later carries out mode choosing again
It selects, when for active rehabilitation modality, device is by the different grades of Grads threshold ratio of the absorbed angle value read in real time and setting
Compared with different grades of Grads threshold corresponds to different Wrist-sport bending angle, when judgement reaches threshold value, controls to ectoskeleton
Device 3 sends corresponding action directive, and ectoskeleton controller 3 controls exoskeleton rehabilitation equipment 4 and executes rehabilitation movement, works as movement
Terminate when completion, otherwise continues to execute movement；When for passive rehabilitation mode, the comparison of focus is not being carried out but straight at this time
Receive and send control instruction.It is worth noting that, in the process, regardless of whether carrying out threshold value setting or the selection of rehabilitation modality
Or the selection of rehabilitation movement, focus are all shown in bluetooth connection success in real time.
The technical concept and feature of above example only to illustrate the invention, can not limit protection model of the invention with this
It encloses.For those skilled in the art, all to improve any equivalent transformation or modification made according to the spirit of the present invention, all
It is covered by the protection scope of the present invention.
Claims (8)
1. a kind of wrist rehabilitation control device based on focus level, including brain wave acquisition device 1, it is characterised in that: brain electricity
The output of acquisition device (1) is connected by bluetooth with the input of computer end (2), and the output of computer end (2) passes through bluetooth and dermoskeleton
The input of bone controller (3) connects, and the output of ectoskeleton controller (3) is connected with the input of exoskeleton rehabilitation equipment (4)；
In the active mode, it is sent out after absorbed angle value when brain wave acquisition device (1) acquisition patient carries out Mental imagery by bluetooth
Computer end (2) are sent to, after focus reaches given threshold, ectoskeleton open command is sent to by computer end (2) by bluetooth
Ectoskeleton controller (3), ectoskeleton controller (3) control exoskeleton rehabilitation equipment (4) is moved, to complete corresponding rehabilitation
Movement；
Under Passive Mode, focus level is still acquired, but computer end (2) is direct by control instruction after athletic performance selection
Ectoskeleton controller (3) are sent to, at this time the comparison without focus threshold value.
2. a kind of wrist rehabilitation control device based on focus level according to claim 1, it is characterised in that: described
Brain wave acquisition device (1) be worn on the forehead of user, acquire the brain electric information of user, and be absorbed in calculate it with this
Degree；Brain wave acquisition device (1) uses BrainLink equipment, real-time by algorithm by the eeg signal for acquiring different frequency range
The focus for calculating user is horizontal.
3. a kind of wrist rehabilitation control device based on focus level according to claim 1, it is characterised in that: described
Brain wave acquisition device (1) collect the absorbed angle value of user after be compared with the threshold value of setting, when the real-time focus of user
Ectoskeleton open command is sent to computer end (2) more than after given threshold, angle value is absorbed in as " switching value " and is responsible for ectoskeleton
It opens and closes；Meanwhile Grads threshold makes patient carry out corresponding impedance training, patient needs to change its focus level and comes in fact
Bending angle in existing different rehabilitation movements.
4. a kind of wrist rehabilitation control device based on focus level according to claim 1, it is characterised in that: described
Computer end (2) focus is handled, threshold value is divided into different brackets, and different grades of threshold value corresponds in wrist rehabilitation movement
Different bending angle realizes impedance training by setting different threshold gradients.
5. a kind of wrist rehabilitation control device based on focus level according to claim 1, it is characterised in that: described
Computer end (2) be equipped with the gui interface composition that MATLAB is write, it is dynamic that gui interface is integrated with bluetooth connection area (201), rehabilitation
Elect area (202), model selection area (203), the setting of focus threshold value area (204), visual cues area (205) and focus
Real-time display area (206)；The size, color and position of each region and internal component number carry out certainly acording to the requirement of user
Definition design and setting；Bluetooth connection area (201) is made of bluetooth connection button (20101) and removing serial ports (20102)；Rehabilitation
Movement selection area (202) is made of several movement selection keys (20201) and reset key (20202)；Model selection area (203)
It is made of aggressive mode button (20301) and Passive Mode button (20302)；Focus threshold value sets area (204) by focus
Threshold value input frame (20401) and setting button (20402) composition, by setting different focus threshold value and focus threshold value
Gradient is to adapt to different patients and different rehabilitation periods；Focus real-time display area (206) is by focus display box
(20601) with focus show item (20602) composition, by focus real-time display area (206) come in real time to user feedback its
It is absorbed in angle value, informs that the current focus of user is horizontal with this.
6. a kind of wrist rehabilitation control device based on focus level according to claim 5, which is characterized in that described
Computer end (2) application method are as follows: firstly, after pressing the bluetooth connection button (20101) in bluetooth connection area (201), computer
End (2) can be connect by bluetooth with brain wave acquisition device (1) and ectoskeleton controller (3), remove serial ports (20102) for removing
Bluetooth serial ports is that connection is prepared next time；After bluetooth connection success, brain wave acquisition device (1) absorbed angle value collected will be real
When be shown in focus real-time display area (206), focus level value, focus are shown in focus display box (20601)
Show that item (20602) intuitively currently absorbed angle value is apart from extreme value, that is, maximum value, the distance of minimum value for reflection, so that user couple
The focus level of oneself has intuitive understanding；Rehabilitation movement selection area (202) selects different movement selection keys (20201)
Afterwards, visual cues area (205) can repeat playing corresponding prompt action, further to stimulate patient to improve focus；Reset is pressed
After key (20202) is pressed, numerical value reverts to initial value in focus display box (20601), and focus shows that item (20602) return
Initial position, visual cues area (205) can stop visual cues, by the focus of visual cues area (205) Lai Tigao patient,
The success rate and rehabilitation efficacy of device triggering are improved with this；In addition to this computer end (2) can be handled absorbed value, be absorbed in
It spends in threshold value setting area (204), after focus threshold value inputs and press setting button (20402) by input frame (20401), specially
The setting of note degree threshold value is completed, and is sent open command by bluetooth when being absorbed in the threshold value that angle value reaches set and is controlled to ectoskeleton
Device (3).
7. a kind of wrist rehabilitation control device based on focus level according to claim 1, it is characterised in that: described
Ectoskeleton controller (3) by main control chip (301), bluetooth module (302) and control box (303) form, main control chip
(301), bluetooth module (302) is encapsulated in control box (303), is controlled box (303) by wearable structure and is invested patient's hand
On arm, or it is placed on desktop；I/O mouth by controlling chip (301) connects different exoskeleton rehabilitation equipment (4).
8. a kind of wrist rehabilitation control device based on focus level according to claim 7, it is characterised in that: described
Main control chip (301) using Arduino Uno, bluetooth module (302) uses HC05 (HC-05)；Control box (303) by
Lower cover (30301) and upper cover (30302) composition.
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