CN110075486A - A kind of rehabilitation training of upper limbs system and method using virtual reality technology - Google Patents
A kind of rehabilitation training of upper limbs system and method using virtual reality technology Download PDFInfo
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- CN110075486A CN110075486A CN201910472047.0A CN201910472047A CN110075486A CN 110075486 A CN110075486 A CN 110075486A CN 201910472047 A CN201910472047 A CN 201910472047A CN 110075486 A CN110075486 A CN 110075486A
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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
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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
- A63B23/16—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 hands or fingers
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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
- A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
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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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- 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
-
- 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
- A63B2024/0096—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load using performance related parameters for controlling electronic or video games or avatars
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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
- 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
- A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
-
- 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
- A63B2220/805—Optical or opto-electronic sensors
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
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Abstract
The present invention provides a kind of rehabilitation training of upper limbs system and method using virtual reality technology, present system, comprising: hand exercise data acquisition module, game engine modules, interactive engine module and virtual reality device module；Hand exercise data collecting module collected tracks hand motion when patient motion, and it is synchronized to the game engine modules, by the hand motion information reconstruction of patient in the virtual environment of the virtual reality device module, then passes through interactive engine module and realize operation of the hand motion of patient to object in game.The present invention mainly provides duplicate practice and in real time feedback using virtual reality technology for rehabilitation training, make patient that there is stronger feeling of immersion, improve the enthusiasm that patient carries out rehabilitation training, patient is set to be ready to be actively engaged in rehabilitation training, and then the efficiency and effect of rehabilitation training are promoted, shorten the rehabilitation training time of patient.
Description
Technical field
The present invention relates to medical treatment & health technical fields, specifically, more particularly to a kind of using the upper of virtual reality technology
Limbs rehabilitation training system and method.
Background technique
Traumatic nerve injury such as traumatic brain injury, spinal cord injury, the cranial vascular diseases such as apoplexy are the main of people's physical disabilities
Reason.Patient with cerebral injury, spinal cord injury can generally lose the control to body upper limb part.There is upper extremity exercise to allow
The patient of obstacle obtains best rehabilitation efficacy, and rehabilitation training just must have specific aim and challenge.Meanwhile rehabilitation training is
One arduous process, patient repeats to adhere to just can be effective.Therefore, how to allow patient not feel uninteresting in training is also very
Important.Currently, rehabilitation therapy is other than traditional training for carrying out teach-by-doing to patient by rehabilitation therapist, there are also some
Patient carries out supplemental training using healing robot.However these recovery training methods suffer from obvious disadvantage: patient is only
Rehabilitation training simply can be passively participated in, process is very dry as dust.Therefore, patient participates in the initiative of training, enthusiasm not
By force, trained effect is undesirable.Meanwhile a rehabilitation therapist can not carry out rehabilitation training to several patients simultaneously, greatly
Waste human and material resources.
Virtual reality technology abbreviation VR technology, also referred to as clever mirror technology or artificial environment.It resulted from for 20th century 60 years earliest
Generation, Sutherland be put forward for the first time shown including interactive graphics (IG), the virtual reality system of device for force feedback and auditory tone cues
Basic thought.Virtual reality technology simulates the virtual world for generating a three-dimensional space using computer, provides pass for user
In the simulation of the sense organs such as vision, allow user that can observe the things in three-dimensional space immediately, without limitation.Based on functionality
The studies have shown that of magnetic resonance imaging can induce the cerebral cortex of paralytic based on the training rehabilitation system of virtual reality technology
It is recombinated.
Summary of the invention
According to the prior art set forth above technical problem dry as dust for rehabilitation training of upper limbs, and provide a kind of application
The rehabilitation training of upper limbs system and method for virtual reality technology.The present invention is mainly provided using virtual reality technology for rehabilitation training
Duplicate practice and in real time feedback, make patient have stronger feeling of immersion, improve the enthusiasm that patient carries out rehabilitation training, make
Patient is ready to be actively engaged in rehabilitation training, and then promotes the efficiency and effect of rehabilitation training, shortens the rehabilitation training time of patient.
The technological means that the present invention uses is as follows:
A kind of rehabilitation training of upper limbs system using virtual reality technology, comprising:
Hand exercise data acquisition module, using Leap Motion infrared detector；
Game engine modules, using Unity engine and PhysX physical engine；
Interactive engine module, using the Interaction Engine of Leap Motion；
Virtual reality device module shows equipment using the end PC display or HTC Vive, OCulus virtual reality head；
Hand motion when the hand exercise data collecting module collected tracking patient motion, and be synchronized to described
Game engine modules by the hand motion information reconstruction of patient in the virtual environment of the virtual reality device module, then are led to
It crosses interactive engine module and realizes operation of the hand motion of patient to object in game.
Further, the game design of the virtual reality device module targetedly trains outpost, and the training is closed
Card is related to different task objects, and the difficulty at training outpost is incremental.
Further, the Leap Motion infrared detector can be when tracking the hand motion of patient, without giving
Patient dresses other devices, removes additional hand burden from.
The present invention also provides a kind of rehabilitation training of upper limbs methods using virtual reality technology, include the following steps:
Step S1: installing and debugs the Leap Motion infrared detector of good hand portion tracking, keeps Leap Motion red
Outer detecting devices can accurately track patient hand's movement and relevant action information is correctly passed to game engine modules；
Step S2: by game engine modules by the hand motion information reconstruction of patient in the virtual reality device module
Virtual environment in；
Step S3: by the upper extremity exercise data of hand exercise data collecting module collected patient, and judge the fortune of patient
It is dynamic whether to reach rehabilitation standard, if reaching rehabilitation standard, the upper extremity exercise data of patient are transmitted to interactive engine module, are led to
Crossing interactive engine module makes the upper limks movements of patient realize the operation to Objects In A Virtual Environment；
Step S4: if patient, which has reached a series of preset task objects, rehabilitation training in virtual environment, to terminate.
Further, the step S4 further includes following steps:
Step S41: during completing task object, if the hand motion of patient does not complete specified requirement, triggering failure
Special efficacy, then train outpost to reset, and patient is challenged again；
Step S42: during completing task object, if the hand motion of patient completes specified requirement, triggering clearance is special
Effect, will be automatically loaded new training outpost；
Compared with the prior art, the invention has the following advantages that
1, the rehabilitation training of upper limbs system provided by the invention using virtual reality technology, by designing specific aim for patient
Training outpost, allow patient to obtain special training in gaming, improve the efficiency of patient's training rehabilitation.
2, the present invention mainly provides duplicate practice and in real time feedback using virtual reality technology for rehabilitation training, makes to suffer from
Person has stronger feeling of immersion, improves the enthusiasm that patient carries out rehabilitation training, patient is made to be ready to be actively engaged in rehabilitation training, into
And the efficiency and effect of rehabilitation training are promoted, shorten the rehabilitation training time of patient.
3, studies have shown that the rehabilitation training of the upper extremity function of hemiplegic patient should carry out under positive environment, it is passive or
Not positive training, it is very unobvious to the rehabilitation efficacy of the remodeling of patient's brain function and hand movement function.On provided by the invention
Limbs rehabilitation training system can make hemiplegic patient carry out correct hand rehabilitation training under positive environment, accelerate patient's brain function
It can remold and hand movement function restores, patient is made to have reached good rehabilitation efficacy.
4, the studies have shown that based on functional magnetic resonance imaging be based on rehabilitation training of upper limbs system provided by the invention can be with
The cerebral cortex of induction paralytic recombinates.Also some researches show that for patient, using upper limb health provided by the invention
Multiple training system can be more more efficient than traditional upper limb healing system, can relatively make using the patient of virtual reality upper limb healing technology
Preferably restored in terms of upper limb disorder with the patient of Traditional Rehabilitation system, relevant locomitivity becomes stronger.
The present invention can be widely popularized in fields such as medical treatment & healths based on the above reasons.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is present system flow chart.
Fig. 2 is that hand of the embodiment of the present invention tracks scene.
Fig. 3 is scene of game of the embodiment of the present invention one.
Fig. 4 is failure game of embodiment of the present invention scene.
Fig. 5 is game of embodiment of the present invention clearance scene.
Fig. 6 is scene of game of the embodiment of the present invention two.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.It is real to the description of at least one exemplary embodiment below
It is merely illustrative on border, never as to the present invention and its application or any restrictions used.Based on the reality in the present invention
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the scope of protection of the invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Embodiment 1
The present invention provides a kind of rehabilitation training of upper limbs systems using virtual reality technology, comprising:
Hand exercise data acquisition module, using Leap Motion infrared detector；Leap Motion infrared acquisition
Equipment has high accurancy and precision and high tracking frame per second, 2.5cm-0.6m of the working range in front of equipment, even if being closer
In the case where can also identify the upper limb of patient or even the fine movement of hand, upper limb data needed for meeting system acquisition want
It asks, while considering the physical condition of patient, Leap Motion infrared detector can be in the hand motion of tracking patient
When, without dressing other devices to patient, remove additional hand burden from；
Game engine modules, using Unity engine and PhysX physical engine；It can be provided remarkably by Unity engine
3-D effect and physical effect, while by PhysX physical engine, so that the movement of Objects In A Virtual Environment is more in line with
The feeling of immersion of physics law in the real world, user is highly improved；
Interactive engine module, using the Interaction Engine of Leap Motion；It is selected in the present embodiment
Interactive engine can allow patient by this engine can complete to grasp the object in virtual environment, toss etc. it is a series of
Upper limks movements needed for daily life meet system development demand；
Virtual reality device module shows equipment using the end PC display or HTC Vive, OCulus virtual reality head；It will trip
The movement of object combines with the movement of patient hand in playing, and patient can interact with the object in game, reach body
Picture in game is shown equipment and is shown by the feeling for facing its border by PC display or HTC Vive, OCulus virtual reality head
It shows and, achieved the effect that patient is allowed to enter virtual reality；The game design of virtual reality device module is targetedly instructed
Practice outpost, the trained outpost is related to different task objects, and the difficulty at training outpost is incremental, and patient is allowed to obtain in gaming
To special training, the efficiency of patient's training rehabilitation is improved.
Hand motion when the hand exercise data collecting module collected tracking patient motion, and be synchronized to described
Game engine modules by the hand motion information reconstruction of patient in the virtual environment of the virtual reality device module, then are led to
It crosses interactive engine module and realizes operation of the hand motion of patient to object in game.
Embodiment 2
As shown in Figure 1, on the basis of embodiment 1, the present invention provides a kind of upper limb health using virtual reality technology
Multiple training method, includes the following steps:
Step S1: installing and debugs the Leap Motion infrared detector of good hand portion tracking, keeps Leap Motion red
Outer detecting devices can accurately track patient hand's movement and relevant action information is correctly passed to game engine modules；
Step S2: as shown in Fig. 2, being set the hand motion information reconstruction of patient in virtual reality by game engine modules
In the virtual environment game scene one of standby module；
Step S3: by the upper extremity exercise data of hand exercise data collecting module collected patient, and judge the fortune of patient
It is dynamic whether to reach rehabilitation standard, if reaching rehabilitation standard, the upper extremity exercise data of patient are transmitted to interactive engine module, are led to
Crossing interactive engine module makes the upper limks movements of patient realize the operation to Objects In A Virtual Environment；
Step S41: during completing task object, if the hand motion of patient does not complete specified requirement, triggering failure
Special efficacy, then train outpost to reset, and patient is challenged again；In the present embodiment, as shown in figure 3, patient can use hand motion
Rocket flight is operated, helps it to pass through obstacle and reaches the destination.If the rocket of patient's operation is struck barrier, rocket will
It explodes, patient loses the control to rocket, as shown in figure 4, after explosive effect, outpost resets, and patient can be into
The new primary outpost challenge of row.
Step S42: during completing task object, if the hand motion of patient completes specified requirement, triggering clearance is special
Effect, will be automatically loaded new training outpost；In the present embodiment, as shown in figure 5, if patient's Successful Operation rocket reaches target
Point then triggers clearance special efficacy, after animation, as shown in fig. 6, entering scene of game two for new outpost is automatically loaded.
Step S4: if patient, which has reached a series of preset task objects, rehabilitation training in virtual environment, to terminate.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (5)
1. a kind of rehabilitation training of upper limbs system using virtual reality technology characterized by comprising
Hand exercise data acquisition module, using Leap Motion infrared detector；
Game engine modules, using Unity engine and PhysX physical engine；
Interactive engine module, using the Interaction Engine of Leap Motion；
Virtual reality device module shows equipment using the end PC display or HTC Vive, OCulus virtual reality head；
Hand motion when the hand exercise data collecting module collected tracking patient motion, and it is synchronized to the game
Engine modules by the hand motion information reconstruction of patient in the virtual environment of the virtual reality device module, then pass through friendship
Mutual engine modules realize operation of the hand motion of patient to object in game.
2. the rehabilitation training of upper limbs system according to claim 1 using virtual reality technology, which is characterized in that the void
Intend the game design of real world devices module and targetedly train outpost, the trained outpost is related to different task objects, instructs
The difficulty for practicing outpost is incremental.
3. the rehabilitation training of upper limbs system according to claim 1 using virtual reality technology, which is characterized in that described
Leap Motion infrared detector, without dressing other devices to patient, can be removed from when tracking the hand motion of patient
Additional hand burden.
4. a kind of rehabilitation training of upper limbs method based on system described in claim 1, which comprises the steps of:
Step S1: installing and debugs the Leap Motion infrared detector of good hand portion tracking, makes the infrared spy of Leap Motion
Measurement equipment can accurately track patient hand's movement and relevant action information is correctly passed to game engine modules；
Step S2: by game engine modules by the hand motion information reconstruction of patient the virtual reality device module void
In near-ring border；
Step S3: by the upper extremity exercise data of hand exercise data collecting module collected patient, and judge that the movement of patient is
It is no to reach rehabilitation standard, if reaching rehabilitation standard, the upper extremity exercise data of patient are transmitted to interactive engine module, pass through friendship
Mutual engine modules make the upper limks movements of patient realize the operation to Objects In A Virtual Environment；
Step S4: if patient, which has reached a series of preset task objects, rehabilitation training in virtual environment, to terminate.
5. rehabilitation training of upper limbs method according to claim 4, which is characterized in that the step S4 further includes walking as follows
It is rapid:
Step S41: during completing task object, if the hand motion of patient does not complete specified requirement, triggering failure special efficacy,
Then outpost is trained to reset, patient is challenged again；
Step S42: during completing task object, if the hand motion of patient completes specified requirement, triggering clearance special efficacy, will
It is automatically loaded new training outpost.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110639193A (en) * | 2019-08-21 | 2020-01-03 | 东北大学 | Cognitive ability rehabilitation device based on VR |
| CN111124102A (en) * | 2019-10-24 | 2020-05-08 | 上海市长宁区天山中医医院 | Mixed reality holographic head display limb and spine movement rehabilitation system and method |
| CN111338287A (en) * | 2020-03-13 | 2020-06-26 | 南方科技大学 | Robot motion control method, device and system, robot and storage medium |
| CN112138358A (en) * | 2020-09-23 | 2020-12-29 | 北京幻威科技有限公司 | VR Kopu experience system for project on Yun ao snow |
| CN112642133A (en) * | 2020-11-24 | 2021-04-13 | 杭州易脑复苏科技有限公司 | Rehabilitation training system based on virtual reality |
| CN113633937A (en) * | 2021-08-26 | 2021-11-12 | 东北大学 | Virtual reality upper limb rehabilitation operation treatment system |
| CN114602138A (en) * | 2022-03-01 | 2022-06-10 | 国家康复辅具研究中心 | Upper limb personalized rehabilitation training method and system based on human motion model |
| CN114712151A (en) * | 2022-03-01 | 2022-07-08 | 南京伟思医疗科技股份有限公司 | Virtual obstacle avoidance method and system for upper limb rehabilitation robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110639193A (en) * | 2019-08-21 | 2020-01-03 | 东北大学 | Cognitive ability rehabilitation device based on VR |
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| CN111338287A (en) * | 2020-03-13 | 2020-06-26 | 南方科技大学 | Robot motion control method, device and system, robot and storage medium |
| CN112138358A (en) * | 2020-09-23 | 2020-12-29 | 北京幻威科技有限公司 | VR Kopu experience system for project on Yun ao snow |
| CN112642133A (en) * | 2020-11-24 | 2021-04-13 | 杭州易脑复苏科技有限公司 | Rehabilitation training system based on virtual reality |
| CN113633937A (en) * | 2021-08-26 | 2021-11-12 | 东北大学 | Virtual reality upper limb rehabilitation operation treatment system |
| CN114602138A (en) * | 2022-03-01 | 2022-06-10 | 国家康复辅具研究中心 | Upper limb personalized rehabilitation training method and system based on human motion model |
| CN114712151A (en) * | 2022-03-01 | 2022-07-08 | 南京伟思医疗科技股份有限公司 | Virtual obstacle avoidance method and system for upper limb rehabilitation robot |
| CN114712151B (en) * | 2022-03-01 | 2023-09-19 | 南京伟思医疗科技股份有限公司 | Virtual obstacle avoidance method and system for upper limb rehabilitation robot |
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Application publication date: 20190802 |