CN110201358A - Rehabilitation training of upper limbs system and method based on virtual reality and motor relearning - Google Patents
Rehabilitation training of upper limbs system and method based on virtual reality and motor relearning Download PDFInfo
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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- 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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Abstract
The present invention relates to the rehabilitation training of upper limbs systems based on virtual reality and motor relearning, including virtual reality training equipment；Virtual reality training equipment includes that virtual scene builds equipment and motor function training program；It includes building module for building virtual scene and providing the virtual scene that user's upper extremity exercise prompts that virtual scene, which builds equipment, for show virtual scene and user's upper extremity exercise prompt stereo display module, and for acquire in real time user's upper limb carry out motor function training program when exercise data body feeling interaction module；Motor function training program includes the exercise data for receiving, handling body feeling interaction module transfer and exercise data creates the data processing module of the virtual upper limb moved synchronously with user's upper limb according to treated, and carries out motor relearning rehabilitation training for instructing user to build equipment according to virtual scene to be sequentially completed dyskinesia analysis, motor function training and training effect feedback.User carries out motor relearning rehabilitation training in virtual scene, reaches maximum recovery.
Description
Technical field
The present invention relates to technical field of the rehabilitation medical in conjunction with novel display technology, are based on more particularly, to one kind
The rehabilitation training of upper limbs system and method for virtual reality and motor relearning.
Background technique
Cerebral apoplexy, also known as headstroke are one group of unexpected onsets, using focal neurological deficit as the acute of common trait
Cranial vascular disease.Existing 70,000,000 people of patients with cerebral apoplexy in China, 2,000,000 people of annual new hair.
According to WHO Report, there are different degrees of obstacle of limb movement for 80% apoplexy patient, wherein
Patient more than 60% still has upper extremity motor function disorder after losing the disease phase after entering.The movement of upper limb by upper limb bone,
The complicated three-dimensional activity that the joints such as muscle and shoulder, elbow, wrist, hand participate in jointly, mobility directly affect the day of patient
Normal life activity (activities of daily living, ADL).
Motor Relearning Program is a kind of kinesiatrics for early-stage recovery of cerebral apoplexy, includes functional rehabilitation, limitation
Unnecessary muscular movement is emphasized to feed back the importance to motion control, adjusts five fundamentals of center of gravity and environmental Kuznets Curves, is
The common treatment method of rehabilitation of stroke patients at present.At present in conventional Curing circumstance, it is often unable to reach Motor Relearning Program
To the particular/special requirement of function, environment, movement limitation etc..
Therefore, scene construction, data acquisition, body feeling interaction progress motor relearning treatment are carried out using virtual reality technology
Novel rehabilitation means have both clinic, scientific research, market value.
Summary of the invention
The present invention is directed to overcome above-mentioned defect in the prior art, provide a kind of based on virtual reality and motor relearning
Rehabilitation training of upper limbs system makes user carry out motor relearning rehabilitation training in virtual scene, reaches maximum recovery,
Improve activity of daily living.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: provide and a kind of learned again based on virtual reality and movement
The rehabilitation training of upper limbs system of habit, including virtual reality training equipment；Virtual reality training equipment includes that virtual scene is built and set
Standby and motor function training program；It includes mentioning for building virtual scene and providing user's upper extremity exercise that virtual scene, which builds equipment,
The virtual scene shown builds module, the stereo display module prompted for showing virtual scene and user's upper extremity exercise, and is used for
The body feeling interaction module of exercise data when acquisition user's upper limb is according to prompt progress motor function training program in real time；Move function
Energy training program includes that simultaneously according to treated, exercise data exists for receiving, handling the exercise data of body feeling interaction module transfer
Virtual scene builds the data processing module for the virtual upper limb that creation is moved synchronously with user's upper limb in module, and for instructing to use
Equipment is built according to virtual scene and carries out motor relearning rehabilitation training to be sequentially completed dyskinesia analysis, motor function instruction in family
Experienced and training effect feedback.
In above scheme, user watches virtual scene and prompts to carry out motor relearning rehabilitation training according to upper extremity exercise,
In rehabilitation training, body feeling interaction module acquires the exercise data of user's upper limb in real time and is transmitted to data processing module progress
Processing, data processing module are built in virtual scene according to treated exercise data and create transport synchronous with user's upper limb in module
Dynamic virtual upper limb is to complete the interaction of user and virtual scene, and to treated, exercise data moves data processing module
Obstacle analysis obtains dyskinesia analysis as a result, analyzing result according to dyskinesia carries out motor function training, to motor function
The exercise data acquired in training process is handled with feedback training effect, and the present invention transports user in virtual scene
It is dynamic to learn rehabilitation training again, reach maximum recovery, improves activity of daily living.
Preferably, the rehabilitation training system further includes for assisting user to keep meeting training in rehabilitation training
It is required that the training position ancillary equipment of position；The trained position ancillary equipment includes seat and the upper limb support on seat
Frame, backbone adjustment backrest and shoulder top movable restriction plate；Upper-limb supponting rack is used for the Auxiliary support user in rehabilitation training
Upper limb, backbone adjust backrest and are used for auxiliary adjustment user's spinal conditions in rehabilitation training, shoulder top movable restriction plate use
In the shoulder top movable for limiting user in rehabilitation training.Stroke onset back porch arm position dyskinesia is to take object
Difficulty is main performance: shoulder extension is difficult, elbow stretches that difficult, forearm supinated is difficult, occur to be lifted on shoulder, before forearm rotation, backbone
Compensatory motor pattern based on bending and stretching；User uses training position ancillary equipment when carrying out motor relearning rehabilitation training,
User can be made to keep the position for meeting training requirement in rehabilitation training, inhibit the generation of compensatory movement, guarantee rehabilitation instruction
Practice effect.
Preferably, seat, upper-limb supponting rack and shoulder top movable restriction plate are height-adjustable structure.It is arranged in this way
It is used convenient for different patients, patient can adjust seat, upper-limb supponting rack and shoulder top movable restriction plate according to self-demand
Highly.
Preferably, the stereo display module is that spectacle 3D display equipment, naked eye 3D display equipment or helmet-type are virtual
Reality shows equipment with augmented reality；It is Unity3D stereo game development platform that virtual scene, which builds module,；Body feeling interaction module
For Leap Motion Controller, Real Sense or Kinect somatosensory interactive device.Naked eye 3D display equipment makes
In the case where wearing eye equipment, dynamic, the virtual three-dimensional scene with depth information, enhancing training is presented for user
Feeling of immersion in the process；Building for virtual scene can also be made by other stereo game development platforms, the trip of Unity3D solid
The virtual scene that play development platform is built, picture is vivid, scene closeness to life, emphasizes the movement of patient in daily life
Using focusing on the motor function recovery of user；Leap Motion Controller is capable of real-time acquisition user's upper limb according to prompt
Exercise data when motor function training program is carried out, creates virtual upper limb in module to build in virtual scene, is realized virtual
Upper limb is moved synchronously with user's upper limb, and then realizes the interaction of user and virtual scene.
Preferably, motor function training program further includes the dyskinesia analysis module for dyskinesia analysis, is used for
According to the motor function training module that the analysis result of dyskinesia analysis module is trained, for motor function training mould
The training effect feedback module that the training effect of block is fed back.In rehabilitation training, user first carries out dyskinesia analysis,
Convenient for understanding user's disease condition, and then formulating the motor function training for being suitble to user, and training effect is fed back.
Preferably, dyskinesia analysis module includes shoulder arm motion analysis project and wrist hands movement analysis project；Two fortune
Dynamic analysis project is used to obtain on bilateral when user's control is good for side and Ipsilateral both upper extremities while carrying out motion analysis task
Limb motion information, and both upper extremities motion information is compared to obtain analysis result；And the healthy side upper limb motion information
Norm as motor function training module.
It is further preferred that both upper extremities motion information includes shoulder extension maximum distance D in shoulder arm motion analysis project；
In wrist hands movement analysis project, both upper extremities motion information includes wrist joint stretching angle ROMe and forearm supinated angle ROMp.
The common upper limb disorder of post-stroke are as follows: based on shoulder extension obstacle take object cannot, hindered with forearm supinated and wrist dorsiflexion
Grasping based on hindering cannot；According to the biomethanics of upper extremity exercise, set up the analysis project at the two positions of shoulder arm and wrist hand separately.
Preferably, motor function training module includes shoulder arm training project and wrist hands movement training program；Two fortune
Dynamic training program includes motor pattern study project, motor pattern guide item and autogenic movement training program；Motor pattern
The movement of norm is watched and learnt to study project for user, and motor pattern guide item follows norm to move for user, from
The dynamic training program of shipping independently carries out norm for user's control ipsilateral upper limb after norm disappearance and moves.Motor function training
In the process, training position ancillary equipment can be used to be maintained at user's position, shoulder joint is 90 ° anteflexion, sink naturally, elbow joint is stretched
Directly, under spine upright state.
Preferably, training effect feedback module includes Real-time Feedback module and completion feedback module；Real-time Feedback module is used
Training effect when Real-time Feedback user carries out autogenic movement training program is to remind user to adjust or continue to keep currently to instruct
Practice；The whole training effect that feedback module is used for when completing autogenic movement training program to user is completed to feed back.With vision,
The modes such as the sense of hearing, data feed back the training effect of user, and user is enable to adjust motion state in the training process, from
Row corrects the motor pattern of mistake, strengthens the motor pattern learnt；After training, training effect is with completeness and coincide
The form of degree is presented, and completeness is to complete the total degree of single training mission, ipsilateral upper limb and often in the goodness of fit, that is, training process
The fitting degree of mould reflects the improvement degree of Grasping level and ipsilateral upper limb movement of the user to training program.
Preferably, in shoulder arm motion analysis project, training position ancillary equipment can be used that user's position is made to be maintained at shoulder
Joint is anteflexion 90 °, elbow joint stretch, under spine upright state, user is good for side and Ipsilateral both upper extremities according in virtual scene
Movement prompt carries out the cup that shoulder protrusive movement enough takes virtual scene center, carries out three times altogether；With healthy side upper limb, shoulder protracts three times
The average value of maximum distance D is established the first norm and is saved, comparative analysis both upper extremities shoulder extension maximum distance D；Ipsilateral upper limb
If reaching shoulder joint health threshold value (being preferably the 80% of the first norm), wrist hands movement analysis project is carried out；Ipsilateral upper limb
If not up to shoulder joint health threshold value, shoulder arm training project is carried out.
Preferably, in wrist hands movement analysis project, user is using both upper extremities according to virtual under trunk orthostatic body position
Movement in scene prompts while carrying out grasping movement to grab the cup in virtual scene center, carries out altogether three times；On strong side
The average value of limb wrist joint stretching angle ROMe and forearm supinated angle ROMp are established the second norm and are saved, comparative analysis bilateral
Upper limb wrist joint stretching angle, forearm supinated angle；If ipsilateral upper limb reaches wrist joint, training threshold value (is preferably the second norm
50%), then carry out wrist hands movement training program；If ipsilateral upper limb not up to wrist joint training threshold value, carries out shoulder arm movement
Training program.
Shoulder joint health threshold value and wrist joint training threshold value, which are used as, jumps shoulder arm training project or the training of wrist hands movement
The standard of project, the training difficulty and training strength for participating in user are on its motor function level but (super without departing from too many
Load principle), effectively train the enthusiasm of the motor function of missing and unlikely influence user participation training.
Preferably, in shoulder arm training project, user enough takes according to the movement prompt in virtual scene to be believed with depth
The distant place article of breath, and elapse to specified region；In the process, user is repeated before shoulder using training position ancillary equipment
The shoulder extension and shoulder retraction under 90 ° of positions are bent, head movement is strengthened；When enough taking article, it need to judge article position, analyze article
Depth information improves user visual space stationkeeping ability；When elapsing article, repeat the movement that point-to-point transmission crosses over middle line, enhancing
User-ontology is felt and is effectively improved abnormal spasm mode.
Preferably, in wrist hands movement training program, user connects according to the movement prompt in virtual scene and holds from virtual scene
Top falls the sphere of designated color and quantity；In the process, user repeats forearm supinated, wrist dorsiflexion, finger flex and answers
The multi joint motion of resultant motion, active increases range of motion and muscle strength；User prompts according to the movement in virtual scene
Training mission is completed as requested, improves cognitive function；Rehabilitation system connects according to user to be held accuracy and (catches designated color sphere
Quantity/total quantity of designated color sphere is fallen in the time) feedback, adjust sphere in real time and fall speed and designated color
The ratio of sphere improves user's harmony, motor reaction and cognitive function.
Motor function training module is trained design with reference to Motor Relearning Program, and it is living to provide operations specific for user
One of dynamic motor pattern is trained, and the virtual scene for building closeness to life emphasizes motor pattern in number of storage tanks produced per day
Functionality, realize integral rehabilitation from structure to function.Select user's healthy side upper limb motion information as norm, and with norm
As the main body of study and guidance, select the degree of agreement of suffering limb and norm special exercise information as trained difficulty setting according to
According to the movement of promotion user's suffering limb tends to normal, and improves the sports coordination of user's both upper extremities.
Another object of the present invention is to provide a kind of rehabilitation training of upper limbs based on virtual reality and motor relearning
Method is included the following steps: using above-mentioned rehabilitation training of upper limbs system
S1. module being built using virtual scene and building virtual scene, virtual scene provides the prompt of user's upper extremity exercise, using vertical
Body display module shows the prompt of virtual scene and user's upper extremity exercise；
S2. user watches the virtual scene that stereo display module is shown, and according to the prompt setting in motion function of user's upper extremity exercise
Energy training program is to carry out motor relearning rehabilitation training；
S3. exercise data of user's upper limb according to prompt progress rehabilitation training when is acquired in real time using body feeling interaction module；It uses
Data processing module receives and processes the exercise data of body feeling interaction module transfer, according to treated exercise data in virtual field
Scape is built the virtual upper limb that creation is moved synchronously with user's upper limb in module and is shown on stereo display module, to treated
Exercise data carries out dyskinesia analysis, obtains dyskinesia and analyzes result；
S4. result is analyzed according to dyskinesia and carries out motor function training, acquired user in real time using body feeling interaction module and carry out
Exercise data when motor function training, the movement number of body feeling interaction module transfer is received and processed using data processing module
According to, and exercise data is trained staining effect according to treated.
Compared with prior art, the invention has the benefit that
User watches virtual scene and prompts to carry out motor relearning rehabilitation training according to upper extremity exercise, in rehabilitation training,
Body feeling interaction module acquires the exercise data of user's upper limb in real time and is transmitted to data processing module and handles, data processing mould
Root tuber built according to treated exercise data in virtual scene created in module the virtual upper limb that is moved synchronously with user's upper limb with
The interaction of user and virtual scene are completed, exercise data carries out dyskinesia analysis to data processing module to treated, obtains
Dyskinesia analysis carries out motor function training as a result, analyzing result according to dyskinesia, to adopting in motor function training process
The exercise data of collection is handled with feedback training effect, and the present invention makes user carry out motor relearning rehabilitation in virtual scene
Training realizes movement remodeling, reconstruction, reaches maximum recovery, improves activity of daily living.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the rehabilitation training of upper limbs system based on virtual reality and motor relearning of the present embodiment.
Fig. 2 is a kind of training process of the rehabilitation training of upper limbs method based on virtual reality and motor relearning of the present embodiment
Figure；Wherein Da, Du are respectively Ipsilateral shoulder extension maximum distance, healthy side shoulder extension maximum distance；ROMpa, ROMpu are respectively Ipsilateral
Forearm supinated angle, strong side forearm supinated angle；ROMea, ROMeu are respectively Ipsilateral wrist joint stretching angle, strong side wrist joint
Stretching angle.
Fig. 3 is the schematic diagram of training position ancillary equipment in the present embodiment.
Fig. 4 is that obstacle analysis module interfaces figure is moved in the present embodiment.
Fig. 5 is the training surface chart of shoulder arm training project in the present embodiment.
Fig. 6 is the training surface chart of wrist hands movement training program in the present embodiment.
Attached drawing mark: 1 upper-limb supponting rack；2 backbones adjust backrest；3 shoulder top movable restriction plates；10 seats.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying example, the present invention will be described in detail, it should be understood that preferred embodiment described herein is only used for describing and explaining this hair
It is bright, it is not intended to limit the present invention.
Embodiment
As shown in Figure 1, the present invention provides a kind of rehabilitation training of upper limbs system based on virtual reality and motor relearning, packet
Include virtual reality training equipment；Virtual reality training equipment includes that virtual scene builds equipment and motor function training program；It is empty
Quasi- scene construction equipment includes building module for building virtual scene and providing the virtual scene that user's upper extremity exercise prompts, and is used
In display virtual scene and the stereo display module of user's upper extremity exercise prompt, and for acquiring user's upper limb in real time according to prompt
The body feeling interaction module of exercise data when progress motor function training program；Motor function training program include for receiving,
It handles the exercise data of body feeling interaction module transfer and exercise data builds in module in virtual scene creates according to treated
The data processing module of the virtual upper limb moved synchronously with user's upper limb, and for instructing user to build equipment according to virtual scene
Motor relearning rehabilitation training is carried out to be sequentially completed dyskinesia analysis, motor function training and training effect feedback.
In the present embodiment, user watches virtual scene and prompts to carry out motor relearning rehabilitation training according to upper extremity exercise,
In rehabilitation training, body feeling interaction module acquires the exercise data of user's upper limb in real time and is transmitted to data processing module progress
Processing, data processing module are built in virtual scene according to treated exercise data and create transport synchronous with user's upper limb in module
Dynamic virtual upper limb is to complete the interaction of user and virtual scene, and to treated, exercise data moves data processing module
Obstacle analysis obtains dyskinesia analysis as a result, analyzing result according to dyskinesia carries out motor function training, to motor function
The exercise data acquired in training process is handled with feedback training effect, and the present invention transports user in virtual scene
It is dynamic to learn rehabilitation training again, reach maximum recovery, improves activity of daily living.
Wherein, the rehabilitation training system further includes for assisting user to keep meeting trained want in rehabilitation training
Seek the training position ancillary equipment of position；As shown in figure 3, the trained position ancillary equipment include seat 10 and be set to seat 10
On upper-limb supponting rack 1, backbone adjustment backrest 2 and shoulder top movable restriction plate 3；Upper-limb supponting rack 1 is used in rehabilitation training
Auxiliary support user upper limb in journey, backbone adjust backrest 2 and are used for auxiliary adjustment user's spinal conditions, shoulder in rehabilitation training
Top movable restriction plate 3 in rehabilitation training for limiting the shoulder top movable of user.Stroke onset back porch arm position
Dyskinesia is mainly performance to take object difficulty: shoulder extension is difficult, elbow stretches difficult, forearm supinated difficulty, occurs with shoulder
It is upper lift, forearm rotation before, backbone bend and stretch based on compensatory motor pattern；User uses when carrying out motor relearning rehabilitation training
Training position ancillary equipment, can make user keep the position for meeting training requirement in rehabilitation training, inhibit compensatory movement
Generation, guarantee rehabilitation training effect.
In the present embodiment, seat 10, upper-limb supponting rack 1 and shoulder top movable restriction plate 3 are height-adjustable structure.
Setting uses in this way convenient for different patients, and patient can adjust seat, upper-limb supponting rack and shoulder top movable according to self-demand
The height of restriction plate.Due to setting height-adjustable knot for seat 10, upper-limb supponting rack 1 and shoulder top movable restriction plate 3
Structure belongs to the prior art, such as the chair leg of seat, the support rod for supporting upper-limb supponting rack 1, branch brace shoulder top movable will be supported to limit
The support rod of making sheet 3 is set as retractable structure, and seat 10, upper-limb supponting rack 1 and shoulder top movable restriction plate 3 can be realized
It is height-adjustable, this will not be detailed here.
In addition, the stereo display module is that spectacle 3D display equipment, naked eye 3D display equipment or helmet-type are virtually existing
It is real to show equipment with augmented reality；It is Unity3D stereo game development platform that virtual scene, which builds module,；Body feeling interaction module is
Leap Motion Controller, Real Sense or Kinect somatosensory interactive device.In the present embodiment, stereo display module
For naked eye 3D display equipment so that in the case where not having to wear eye equipment, for user present it is dynamic, there is depth information
Virtual three-dimensional scene, enhance training process in feeling of immersion；Building for virtual scene can also be flat by the exploitation of other stereo games
Platform is made, and the virtual scene that Unity3D stereo game development platform is built, picture is vivid, scene closeness to life, by force
The sports applications of patient in daily life are adjusted, the motor function recovery of user is focused on；Body feeling interaction module is Leap Motion
Controller is capable of real-time acquisition exercise data when user's upper limb carries out motor function training program according to prompt, in void
The virtual upper limb of creation in quasi- scene construction module realizes moving synchronously for virtual upper limb and user's upper limb, so realize user and
The interaction of virtual scene.
Wherein, motor function training program further includes the dyskinesia analysis module for dyskinesia analysis, is used for root
According to the motor function training module that the analysis result of dyskinesia analysis module is trained, for motor function training module
The training effect feedback module that is fed back of training effect.In rehabilitation training, user first carries out dyskinesia analysis, just
In understanding user's disease condition, and then the motor function training for being suitble to user is formulated, and feed back to training effect.
In addition, dyskinesia analysis module includes shoulder arm motion analysis project and wrist hands movement analysis project；Two movements
Analysis project is used to obtain both upper extremities when user's control is good for side and Ipsilateral both upper extremities while carrying out motion analysis task
Motion information, and both upper extremities motion information is compared to obtain analysis result；And the healthy side upper limb motion information is made
For the norm of motor function training module.
In the present embodiment, in shoulder arm motion analysis project, both upper extremities motion information includes shoulder extension maximum distance D；Wrist
In hands movement analysis project, both upper extremities motion information includes wrist joint stretching angle ROMe and forearm supinated angle ROMp.Brain
The common upper limb disorder of Post stroke are as follows: with shoulder extension obstacle based on take object cannot, with forearm supinated and wrist dorsiflexion obstacle
Based on grasping cannot；According to the biomethanics of upper extremity exercise, set up the analysis project at the two positions of shoulder arm and wrist hand separately.
Wherein, motor function training module includes shoulder arm training project and wrist hands movement training program；Two movements
Training program includes motor pattern study project, motor pattern guide item and autogenic movement training program；Motor pattern
The movement of norm is watched and learnt to habit project for user, and motor pattern guide item follows norm to move for user, spontaneous
Training project independently carries out norm for user's control ipsilateral upper limb after norm disappearance and moves.Motor function was trained
Cheng Zhong, can be used training position ancillary equipment make user's position be maintained at shoulder joint it is 90 ° anteflexion, naturally sinking, elbow joint stretch,
Under spine upright state.
In addition, training effect feedback module includes Real-time Feedback module and completion feedback module；Real-time Feedback module is used for
Training effect when Real-time Feedback user carries out autogenic movement training program is to remind user to adjust or continue to keep current training；
The whole training effect that feedback module is used for when completing autogenic movement training program to user is completed to feed back.With vision, listen
The modes such as feel, data feed back the training effect of user, so that user is adjusted motion state in the training process, voluntarily
The motor pattern of mistake is corrected, the motor pattern learnt is strengthened；After training, training effect is with completeness and the goodness of fit
Form present, completeness is to complete the total degree of single training mission, ipsilateral upper limb and norm in the goodness of fit, that is, training process
Fitting degree, reflect user to the improvement degree of the Grasping level and ipsilateral upper limb of training program movement.
In the present embodiment, training position ancillary equipment is used for shoulder arm motion analysis project, shoulder arm training project and wrist
In hands movement training program, assisting user to be maintained at, shoulder joint is 90 ° anteflexion, elbow joint stretches, under spine upright state.
The rehabilitation training system, so that user builds in virtual scene carries out dyskinesia in the virtual scene that equipment is built
Analysis and motor function training, and in entire rehabilitation training, body feeling interaction module acquires user's upper limb according to prompt in real time
Carry out motor function training program when exercise data and in virtual scene create with user's upper limb move synchronously it is virtual on
Limb, motor function training program carries out dyskinesia analysis to user, by using healthy side upper limb motion information as motor function
The norm of training module, comparative analysis both upper extremities motion information reenact targetedly motor function training, implement shoulder arm fortune
Dynamic training or the training of wrist hands movement, and training effect is fed back, so that user is learnt the upper extremity exercise function of losing again, improves
Activity of daily living.
The present embodiment additionally provides a kind of rehabilitation training of upper limbs method based on virtual reality and motor relearning, in use
Rehabilitation training of upper limbs system is stated, is included the following steps:
S1. module being built using virtual scene and building virtual scene, virtual scene provides the prompt of user's upper extremity exercise, using vertical
Body display module shows the prompt of virtual scene and user's upper extremity exercise；
S2. user watches the virtual scene that stereo display module is shown, and according to the prompt setting in motion function of user's upper extremity exercise
Energy training program is to carry out motor relearning rehabilitation training；
S3. exercise data of user's upper limb according to prompt progress rehabilitation training when is acquired in real time using body feeling interaction module；It uses
Data processing module receives and processes the exercise data of body feeling interaction module transfer, according to treated exercise data in virtual field
Scape is built the virtual upper limb that creation is moved synchronously with user's upper limb in module and is shown on stereo display module, to treated
Exercise data carries out dyskinesia analysis, obtains dyskinesia and analyzes result；
S4. result is analyzed according to dyskinesia and carries out motor function training, acquired user in real time using body feeling interaction module and carry out
Exercise data when motor function training, the movement number of body feeling interaction module transfer is received and processed using data processing module
According to, and exercise data is trained staining effect according to treated.
When carrying out rehabilitation training using the recovery training method, process is as shown in Fig. 2, specific as follows.
1, after position is adjusted to the seat of spine upright using training position ancillary equipment by user, into training system,
It selects on ipsilateral upper limb (" left side " or " right side ").
2, dyskinesia analysis is carried out first, and surface chart is as shown in figure 4, specific as follows.
2.1, in shoulder arm motion analysis project, it is (upright to sit that training position ancillary equipment auxiliary user completes position support
Position, shoulder joint is anteflexion 90 °, elbow joint stretches), virtual scene center show the cup with depth information, and user is required to control
Carry out shoulder protrusive movement enough takes cup to both upper extremities processed simultaneously, in triplicate；Body feeling interaction module acquires in real time in the process
Motion information of the both upper extremities based on shoulder extension maximum distance D, and shoulder extension maximum distance D is averaged three times with healthy side upper limb
Value is established the first norm and is saved, and comparative analysis both upper extremities shoulder protracts maximum distance (strong side Du, Ipsilateral Da)；If ipsilateral upper limb
Reach shoulder joint health threshold value (to be preferably 80%Du), then carry out wrist hands movement analysis project；If ipsilateral upper limb not up to shoulder
Articulation health threshold value then carries out shoulder arm training project.
2.2, in wrist hands movement analysis project, it is (upright to sit that training position ancillary equipment auxiliary user completes position support
Position), the task that virtual scene display content and user need to complete is identical with shoulder arm motion analysis project；Body in the process
Sense interactive module acquires fortune of the both upper extremities based on wrist joint stretching angle (ROMe) and forearm supinated angle (ROMp) in real time
Dynamic information；The second norm is established simultaneously with the average value of healthy side upper limb wrist joint stretching angle ROMeu and forearm supinated angle ROMpu
It saves, comparative analysis both upper extremities wrist joint stretching angle (strong side ROMeu, Ipsilateral ROMeu) and forearm supinated angle (strong side
ROMpu, Ipsilateral ROMpa)；If ipsilateral upper limb reaches wrist joint training threshold value [being preferably 50% (ROMeu+ROMpu)], into
Row wrist hands movement training program；If ipsilateral upper limb not up to wrist joint training threshold value, carries out shoulder arm training project.
3, based on the analysis results, specific as follows into motor function training after completing dyskinesia analysis.
3.1, in shoulder arm training project, corresponding trained surface chart, training position ancillary equipment are illustrated in figure 5
Assist user complete position support (upright seat, shoulder joint is anteflexion 90 °, elbow joint stretches)；In virtual scene, if side is shown
The bead of dry different colours, the other side are shown as object ball basket；User watches the first norm first and carries out shoulder extension rear shrink movement,
Continue 1 minute；Following user is required that controlling ipsilateral upper limb follows the first norm to carry out shoulder extension rear shrink movement, continues 1 point
Clock；Final first norm disappears from virtual scene, and user is required that controlling ipsilateral upper limb independently carries out shoulder extension rear shrink movement,
The bead of designated color is enough taken according to voice prompting and is put into the ball basket of the other side, continues 13 minutes；The every end of user is primary to appoint
Business, training effect feedback module will feed back the performance of user in the form of voice prompting, be correctly completed, play
Rising tune audio, mistake completion then play falling tone audio；In the process, the fitting hundred of user's ipsilateral upper limb and the first norm is recorded
Score (F1) and the task number (N1) completed as requested, project final score are (F1*100+N1).
3.2, in wrist hands movement training program, corresponding trained surface chart, training position ancillary equipment are illustrated in figure 6
User is assisted to complete position support (upright seat)；Persistently fallen in virtual scene, above screen it is several have depth information and
The different bead of color；User watches the second norm first and carries out forearm supinated, wrist joint stretching routine, continues 1 minute；It connects down
Carry out user and is required that controlling ipsilateral upper limb follows the second norm to carry out same movement, continues 1 minute；Final second norm disappears,
User is required that according to voice prompting, independent control ipsilateral upper limb carries out shoulder extension retraction, forearm supinated, wrist joint stretching, extension, the palm
Articulations digitorum manus and interphalangeal joint curvature movement connect the bead for holding designated color, continue 13 minutes；User's one subtask of every end, training
Staining effect module will be fed back the performance of user in the form of voice prompting, is correctly completed, plays rising tune sound
Frequently, mistake completion then plays falling tone audio；The rehabilitation training system can connect according to user to be held accuracy and (catches designated color sphere
Quantity/total quantity of designated color sphere is fallen in the time), adjust sphere in real time and fall speed and designated color sphere
Ratio；In the process, record user's suffering limb and the second norm fitting percentage (F2) and the completing as requested of the task
Number (N2), it is (1*, which connects, holds accuracy) that a subtask is scored after the completion, and the sum of score is as final task score (∑N21*
Connect and hold accuracy), project final score is (F2*100+ ∑N21*, which connects, holds accuracy).
After user completes primary training using the system, a reading report, including user's suffering limb function situation will be generated
Dyskinesia analysis result and training program score, the foundation improved as training effect and function.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, therefore
Without departing from the technical solutions of the present invention, according to the technical essence of the invention it is to the above embodiments it is any modification,
Equivalent variations and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of rehabilitation training of upper limbs system based on virtual reality and motor relearning, which is characterized in that including virtual reality
Training equipment；Virtual reality training equipment includes that virtual scene builds equipment and motor function training program；Virtual scene is built
Equipment includes building module for building virtual scene and providing the virtual scene that user's upper extremity exercise prompts, virtual for showing
Scene and the stereo display module of user's upper extremity exercise prompt, and movement function is carried out according to prompt for acquiring user's upper limb in real time
The body feeling interaction module of exercise data when energy training program；Motor function training program includes handing over for receiving, handling body-sensing
The exercise data of mutual module transfer simultaneously builds creation and user's upper limb in module in virtual scene according to treated exercise data
The data processing module of the virtual upper limb moved synchronously, and moved again for instructing user to build equipment according to virtual scene
Study rehabilitation training is to be sequentially completed dyskinesia analysis, motor function training and training effect feedback.
2. rehabilitation training of upper limbs system according to claim 1, which is characterized in that the rehabilitation training system further includes using
The training position ancillary equipment for meeting training requirement position is kept in rehabilitation training in auxiliary user；The trained position
Ancillary equipment includes that seat (10) and the upper-limb supponting rack (1) being set on seat (10), backbone adjustment backrest (2) and shoulder top are living
Dynamic restriction plate (3)；Upper-limb supponting rack (1) is used for the Auxiliary support user upper limb in rehabilitation training, and backbone adjusts backrest (2)
For auxiliary adjustment user's spinal conditions in rehabilitation training, shoulder top movable restriction plate (3) is in rehabilitation training
The shoulder top movable of user is limited in journey.
3. rehabilitation training of upper limbs system according to claim 2, which is characterized in that seat (10), upper-limb supponting rack (1) and
Shoulder top movable restriction plate (3) is height-adjustable structure.
4. rehabilitation training of upper limbs system according to claim 1, which is characterized in that the stereo display module is spectacle
3D display equipment, naked eye 3D display equipment or helmet-type virtual reality and augmented reality show equipment；Virtual scene builds module
For Unity3D stereo game development platform；Body feeling interaction module be Leap Motion Controller, Real Sense or
Kinect somatosensory interactive device.
5. rehabilitation training of upper limbs system according to claim 1, which is characterized in that motor function training program further includes using
In the dyskinesia analysis module of dyskinesia analysis, it is trained for the analysis result according to dyskinesia analysis module
Motor function training module, the training effect feedback module fed back for the training effect to motor function training module.
6. rehabilitation training of upper limbs system according to claim 5, which is characterized in that dyskinesia analysis module includes shoulder arm
Motion analysis project and wrist hands movement analysis project；Two motion analysis projects are used to obtain the strong side of user's control and Ipsilateral is double
Both upper extremities motion information when side upper limb carries out motion analysis task simultaneously, and to both upper extremities motion information compare with
Obtain analysis result；And norm of the healthy side upper limb motion information as motor function training module.
7. rehabilitation training of upper limbs system according to claim 6, which is characterized in that in shoulder arm motion analysis project, bilateral
Upper extremity exercise information includes shoulder extension maximum distance D；In wrist hands movement analysis project, both upper extremities motion information includes wrist joint
Stretching angle ROMe and forearm supinated angle ROMp.
8. rehabilitation training of upper limbs system according to claim 6, which is characterized in that motor function training module includes shoulder arm
Training project and wrist hands movement training program；Two training projects include motor pattern study project, movement mould
Formula guide item and autogenic movement training program；The movement of norm is watched and learnt to motor pattern study project for user, transports
Dynamic model formula guide item follows norm to move for user, user's control Ipsilateral after autogenic movement training program disappears for norm
Upper limb independently carries out norm and moves.
9. rehabilitation training of upper limbs system according to claim 8, which is characterized in that training effect feedback module includes real-time
Feedback module and completion feedback module；Real-time Feedback module carries out instruction when autogenic movement training program for Real-time Feedback user
Practice effect to remind user to adjust or continue to keep current training；Feedback module is completed to be used to complete user autogenic movement training
Whole training effect when project is fed back.
10. a kind of rehabilitation training of upper limbs method based on virtual reality and motor relearning, which is characterized in that use 1 institute of right
The rehabilitation training of upper limbs system stated, includes the following steps:
S1. module being built using virtual scene and building virtual scene, virtual scene provides the prompt of user's upper extremity exercise, using vertical
Body display module shows the prompt of virtual scene and user's upper extremity exercise；
S2. user watches the virtual scene that stereo display module is shown, and according to the prompt setting in motion function of user's upper extremity exercise
Energy training program is to carry out motor relearning rehabilitation training；
S3. exercise data of user's upper limb according to prompt progress rehabilitation training when is acquired in real time using body feeling interaction module；It uses
Data processing module receives and processes the exercise data of body feeling interaction module transfer, according to treated exercise data in virtual field
Scape is built the virtual upper limb that creation is moved synchronously with user's upper limb in module and is shown on stereo display module, to treated
Exercise data carries out dyskinesia analysis, obtains dyskinesia and analyzes result；
S4. result is analyzed according to dyskinesia and carries out motor function training, acquired user in real time using body feeling interaction module and carry out
Exercise data when motor function training, the movement number of body feeling interaction module transfer is received and processed using data processing module
According to, and exercise data is trained staining effect according to treated.
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