CN110215215B - Grafting rehabilitation training parameter acquisition intelligent module - Google Patents

Grafting rehabilitation training parameter acquisition intelligent module Download PDF

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CN110215215B
CN110215215B CN201910486923.5A CN201910486923A CN110215215B CN 110215215 B CN110215215 B CN 110215215B CN 201910486923 A CN201910486923 A CN 201910486923A CN 110215215 B CN110215215 B CN 110215215B
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training
carrier
motion
acquiring
rehabilitation training
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CN110215215A (en
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王勇
卢涛
段宇轩
陈宝亮
刘正士
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Hefei University of Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches

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Abstract

The invention discloses an intelligent grafting rehabilitation training parameter acquisition module, which comprises a gyroscope and an acceleration sensor, wherein when the intelligent grafting rehabilitation training parameter acquisition module is installed on a first carrier which does reciprocating arc track motion or a second carrier which does reciprocating linear track motion, and the method for acquiring the training parameters by the intelligent grafting rehabilitation training parameter acquisition module comprises the step of calculating the parameters of the first carrier according to an angular velocity signal returned by the gyroscope or calculating the parameters of the second carrier according to an acceleration signal returned by the acceleration sensor. The shoulder joint rehabilitation training device is simple in structure and convenient to implement, various training parameters of a patient in the training process can be monitored in real time by grafting the shoulder joint rehabilitation training device and other similar arc tracks (or similar straight tracks of an upper limb push-and-lift training device and other similar straight tracks) to a rehabilitation training device, and scientific and effective references are provided for a rehabilitation doctor to make a training plan.

Description

Grafting rehabilitation training parameter acquisition intelligent module
Technical Field
The invention relates to the technical field of rehabilitation instruments, in particular to a grafted rehabilitation training parameter acquisition intelligent module.
Background
The aging problem of the population is aggravated, and the diseases such as cerebral apoplexy, apoplexy and the like and the limb dyskinesia caused by accidents cause heavy economic burden to families and society. Based on the neural plasticity theory, the damaged nerves can realize function compensation through the motor therapy, and the rapid development of the field of rehabilitation instruments is promoted.
The shoulder joint convolution trainer and the upper limb push-and-lift trainer are typical rehabilitation equipment which respectively perform reciprocating circular arc track training and reciprocating linear stroke training aiming at the upper limb. Aiming at the problems of the patients with upper limb dyskinesia in the training process of using the two types of rehabilitation equipment, such as: the maximum rotation amplitude and the maximum linear travel of the carrier can not cause secondary damage to a patient, the training times can only be estimated according to training time and experience, the maximum training speed can achieve the best rehabilitation training effect, and the like. Therefore, it is necessary to provide an intelligent module for acquiring grafting rehabilitation training parameters for rehabilitation therapy of patients with upper limb dyskinesia.
Disclosure of Invention
The invention aims to provide an intelligent grafted rehabilitation training parameter acquisition module.
In order to solve the technical problem, the invention adopts the following technical scheme: the grafting intelligent module for acquiring the rehabilitation training parameters comprises a gyroscope and an acceleration sensor, and is arranged on a first carrier which does reciprocating circular arc track motion or a second carrier which does reciprocating linear track motion during use
Figure BDA0002085708340000011
Amplitude of rotation
Figure BDA0002085708340000012
At least one parameter of the reciprocating training times and the motion training speed, or calculating the motion acceleration a 'of the second carrier according to the acceleration signal returned by the acceleration sensor' x A displacement S x Motion stroke S and maximum stroke S max Maximum displacement S xmax Minimum displacement S xmin Number of reciprocating exercises and exercise training speed V x At least one parameter of.
Further, the gyroscope is a single-axis gyroscope and the acceleration sensor is a dual-axis acceleration sensor.
Furthermore, the rotating shaft of the gyroscope is installed in parallel to the central axis of the motion track of the first carrier, the gyroscope returns a rotation angular velocity signal w of the first carrier, and the method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module comprises the step of calculating the rotation angle of the first carrier
Figure BDA0002085708340000013
Calculating the amplitude of rotation of the first carrier
Figure BDA0002085708340000014
At least one calculation process in calculating a motor training speed of the first carrier.
Further, of the first carrier
Figure BDA0002085708340000021
Is calculated by the formula
Figure BDA0002085708340000022
t is the time of day and t is,
Figure BDA0002085708340000023
is calculated by the formula
Figure BDA0002085708340000024
Is the maximum rotation angle of the rotary shaft,
Figure BDA0002085708340000025
for the minimum rotation angle, the exercise training speed is equal to the absolute value | w | of the direct angular velocity signal.
Further, the method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module further comprises the step of counting the reciprocating training times of the first carrier according to the positive and negative change conditions of w, wherein the reciprocating training times are +1 when the angular speed direction changes twice.
Further, the X axis of the acceleration sensor is installed along the motion straight line of the second carrier, the Y axis of the acceleration sensor is installed perpendicular to the motion inclined plane of the second carrier, and the acceleration sensor returns an acceleration signal a x And acceleration signal a y The method for acquiring the training parameters by the grafting rehabilitation training parameter acquisition intelligent module comprises the steps of calculating an included angle theta between a motion inclined plane of the second carrier and a horizontal plane, and calculating a motion acceleration a 'of the second carrier' x At least one calculation process of (2).
Further, the second carrierThe formula for the calculation of theta of the body is
Figure BDA0002085708340000026
a′ x Is calculated as a' x ＝a x -g*sinθ。
Further, the method for acquiring the training parameters by the grafting rehabilitation training parameter acquisition intelligent module further comprises a' x Integrating to obtain the motion training speed V of the second carrier x And a pair of V x Integrating to obtain the displacement S of the second carrier x 。
Further, the method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module further comprises the step of acquiring the training parameters according to V x The calculation formula for calculating the stroke S of the second carrier is
Figure BDA0002085708340000027
t is time, and is for S in at least one cycle x Taking the maximum value and the minimum value to obtain S xmax And S xmin And according to the formula S max ＝S xmax -S xmin Calculating the maximum stroke S max 。
Further, the method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module further comprises the step of acquiring the training parameters according to V x The number of times of reciprocating training of the second carrier is counted, and the number of times of reciprocating training is plus 1 when the speed and the direction change twice.
The invention has the beneficial effects that:
the shoulder joint rehabilitation training device is simple in structure and convenient to implement, the shoulder joint rehabilitation training device can be grafted to a rehabilitation training device with a similar arc track (or a similar straight track of an upper limb push-and-lift training device) and the like, the maximum rotation amplitude (maximum straight stroke), the reciprocating training times and the movement training speed of a patient in the upper limb rehabilitation training process can be monitored in real time, when the hidden danger of secondary injury possibly caused to the patient occurs in the training process, the rehabilitation training can be interrupted in time, the rehabilitation training effect can be objectively and effectively evaluated, and scientific and effective references are provided for a rehabilitation doctor to make a training plan.
Drawings
Fig. 1 is a diagram illustrating a state of use of the shoulder joint convolution trainer according to an embodiment of the present invention.
Fig. 2 is a state diagram of the upper limb press trainer according to an embodiment of the invention.
Fig. 3 is a schematic structural diagram of an embodiment of the present invention.
Fig. 4 is an exploded view of the structure of an embodiment of the present invention.
The components in the drawings are labeled as follows: 1 support frame, 2 wheel hub, 3 rehabilitation training parameter that can graft acquire intelligent object, 4 tracks, 5 sliders.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The invention discloses an intelligent grafting rehabilitation training parameter acquisition module, which comprises a gyroscope and an acceleration sensor, wherein when the intelligent grafting rehabilitation training parameter acquisition module is installed on a first carrier which does reciprocating arc track motion or a second carrier which does reciprocating linear track motion, and the method for acquiring the training parameters by the intelligent grafting rehabilitation training parameter acquisition module comprises the step of calculating the rotation angle of the first carrier according to an angular velocity signal returned by the gyroscope
Figure BDA0002085708340000031
Amplitude of rotation
Figure BDA0002085708340000032
At least one parameter of the reciprocating training times and the motion training speed, or calculating the motion acceleration a 'of the second carrier according to the acceleration signal returned by the acceleration sensor' x A displacement S x A movement stroke S and a maximum stroke S max Maximum displacement S xmax Minimum displacement S xmin Number of reciprocating exercises and exercise training speed V x At least one parameter of.
Taking a shoulder joint rotation trainer (i.e., a reciprocating arc track motion training mechanism) which is shown in fig. 1 and consists of a support frame 1 and a hub 2 rotatably mounted on the support frame 1 as an example, the hub 2 is a first carrier which makes reciprocating arc track motion, and a rehabilitation training parameter acquisition intelligent module 3 which can be grafted is mounted on the hub 2. The mechanism is simple in movement, and the movement training parameters can be represented by an angular velocity signal, so that the use requirement can be met by selecting a single-axis gyroscope.
The rotating shaft of the gyroscope is parallel to the central shaft (equivalent to the rotating shaft of the hub) of the motion track of the first carrier, the gyroscope returns a rotating angular velocity signal w of the first carrier in real time, and the method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module comprises the step of calculating the rotating angle of the first carrier
Figure BDA0002085708340000033
Calculating the amplitude of rotation of the first carrier
Figure BDA0002085708340000034
At least one calculation process in calculating a motor training speed of the first carrier.
In particular of said first support
Figure BDA0002085708340000035
Is calculated by the formula
Figure BDA0002085708340000036
t is a time period which is set by the time period,
Figure BDA0002085708340000037
is calculated by the formula
Figure BDA0002085708340000038
Is the maximum rotation angle of the rotary shaft,
Figure BDA0002085708340000039
at a minimum angle of rotation, i.e. representing the angle of rotation during at least one cycle of reciprocating movementThe exercise training speed represents the speed of rotation, which is equal to the absolute value | w | of the direct angular velocity signal.
Further, in an embodiment, the method for acquiring training parameters by the grafted rehabilitation training parameter acquisition intelligent module further includes counting the number of times of reciprocating training of the first carrier according to positive and negative changes of w, where the number of times of reciprocating training is +1 for every two changes of the direction of the angular velocity w.
Taking an upper limb push-and-lift trainer (i.e. a reciprocating linear track motion training mechanism) which is shown in fig. 2 and is composed of a track 4 which is obliquely arranged and a slide block 5 which is slidably installed on the track 4 as an example, the slide block 5 is a second carrier which makes reciprocating circular track motion, and the rehabilitation training parameter acquisition intelligent module 3 which can be grafted is installed on the slide block 5. The motion training parameters of the mechanism need to be represented by the inclination angle of the inclined plane and the acceleration of motion along the inclined plane at the same time, so that the double-shaft acceleration sensor can meet the use requirement.
The X axis of the acceleration sensor is installed along the motion straight line (equivalent to the extending direction of the track) of the second carrier, the Y axis of the acceleration sensor is installed perpendicular to the motion inclined plane (namely the motion straight line of the second carrier or the plane of the track 4) of the second carrier, and the acceleration sensor returns an acceleration signal a in real time x (measured acceleration signal along the X-axis of the acceleration sensor) and an acceleration signal a y (the measured acceleration signal along the Y axis of the acceleration sensor), the method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module comprises the steps of calculating the included angle theta between the motion inclined plane of the second carrier and the horizontal plane, and calculating the motion acceleration a 'of the second carrier' x At least one calculation process of (2).
Specifically, the calculation formula of theta of the second carrier is
Figure BDA0002085708340000041
a′ x Is calculated as a' x ＝a x -g sin θ, g being the acceleration of gravity.
Further, in one embodiment, theThe method for acquiring the training parameters by the grafting rehabilitation training parameter acquisition intelligent module further comprises a' x Integrating to obtain the motion training speed V of the second carrier x And a pair of V x Integrating to obtain the displacement S of the second carrier x 。
And (3) calculating the displacement by twice integration of the acceleration, and calculating the displacement by adopting twice integration in the time domain and twice integration in the frequency domain and then taking a proper weight coefficient for the displacement obtained by the two integration methods. Or referring to the calculation formula:
Figure BDA0002085708340000042
Figure BDA0002085708340000043
V 0 is the speed, S, at the initial time 0 Is the displacement at the initial time, t is the time.
Further, in an embodiment, the method for obtaining training parameters by the engravable rehabilitation training parameter obtaining intelligent module further comprises obtaining training parameters according to V x The stroke S of the second carrier is calculated by the formula
Figure BDA0002085708340000044
t is time, and is for S in at least one cycle x Taking the maximum value and the minimum value to obtain S xmax And S xmin And according to the formula S max ＝S xmax -S xmin Calculating the maximum stroke S max 。
Further, in an embodiment, the method for acquiring the training parameters by the engravable rehabilitation training parameter acquisition intelligent module further includes acquiring the training parameters according to V x The number of times of reciprocating training of the second carrier and the speed V are counted according to the positive and negative change conditions of the second carrier x The direction changes twice, and the times of reciprocating training are plus l.
Obtained by the invention
Figure BDA0002085708340000051
θ、a′ x 、V x 、S、S x 、S xmax 、S xmin 、S max The maximum training travel of the carrier during training can be obtained through parameters such as the reciprocating motion times, the secondary injury to a patient can be further judged, the training times can be accurately counted, the motion training speed can be fed back in time to be used for judging the training condition, the rehabilitation training effect can be objectively evaluated, and scientific reference is provided for a rehabilitation doctor to make a training plan.
In an embodiment, referring to fig. 3 and 4, the acceleration sensor and the gyroscope are integrated into a sensor module 06, the present invention further includes a wireless transmission module 05, a power supply module and a voltage conversion module 01, the power supply module includes a battery 02, a switch 03 and a charging port 04, the battery is used for providing power, the switch is used for controlling the on/off of the power, the charging port is used for charging the battery, the voltage conversion module is used for converting the battery voltage of 5V into the voltage of 3.3V to supply power to the sensor module, the wireless transmission module is used for transmitting the detection data outwards, and the corresponding parts are connected through a wire. Preferably, each module is installed in a case body formed by an upper cover 07 and a lower cover 08 for convenience of use, and a switch and a charging port are exposed, as shown in fig. 3.
The reciprocating traction training parameter acquisition intelligent module is connected (or bonded) with the carrier through a buckle, and the buckle is detachable.
It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure, and that various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this disclosure.

Claims (3)

1. The utility model provides a rehabilitation training parameter that can graft obtains intelligent module which characterized in that: the grafting intelligent module for acquiring the rehabilitation training parameters is arranged on a first carrier which does reciprocating circular arc track motion or a second carrier which does reciprocating linear track motion, and the method for acquiring the training parameters by the grafting intelligent module for acquiring the rehabilitation training parameters comprises the step of acquiring the training parameters according to the angular speed returned by the gyroscopeCalculating the rotation angle of the first carrier by using the angle signal
Figure FDA0003788467590000011
Amplitude of rotation
Figure FDA0003788467590000012
At least one parameter of the reciprocating training times and the motion training speed, or calculating the motion acceleration a 'of the second carrier according to the acceleration signal returned by the acceleration sensor' x A displacement S x A movement stroke S and a maximum stroke S max Maximum displacement S xmax Minimum displacement S xmin Number of reciprocating exercises and exercise training speed V x At least one parameter of;
the gyroscope is a single-axis gyroscope and the acceleration sensor is a dual-axis acceleration sensor;
the rotating shaft of the gyroscope is arranged in parallel to the central shaft of the motion track of the first carrier, the gyroscope returns a rotation angular velocity signal w of the first carrier, and the method for the grafted rehabilitation training parameter acquisition intelligent module to acquire the training parameters comprises the step of calculating the rotation angle of the first carrier
Figure FDA0003788467590000013
Calculating the amplitude of rotation of the first carrier
Figure FDA0003788467590000014
At least one calculation process in calculating a motion training speed of the first carrier;
the X axis of the acceleration sensor is installed along the motion straight line of the second carrier, the Y axis of the acceleration sensor is installed perpendicular to the motion inclined plane of the second carrier, and the acceleration sensor returns an acceleration signal a x And acceleration signal a y The method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module comprises the steps of calculating the included angle theta between the motion inclined plane of the second carrier and the horizontal plane, and calculating the second carrierOf motion acceleration a' x At least one calculation process of (a);
of the first carrier
Figure FDA0003788467590000015
Is calculated by the formula
Figure FDA0003788467590000016
t is the time of day and t is,
Figure FDA0003788467590000017
is calculated by the formula
Figure FDA0003788467590000018
Figure FDA0003788467590000019
Is the maximum rotation angle of the rotary shaft,
Figure FDA00037884675900000110
the motion training speed is equal to the absolute value | w | of the direct angular speed signal and is the minimum rotation angle;
the calculation formula of the second carrier is
Figure FDA00037884675900000111
a′ x Is calculated as a' x ＝a x -g*sinθ；
The method for acquiring the training parameters by the grafting rehabilitation training parameter acquisition intelligent module further comprises a' x Integrating to obtain the motion training speed V of the second carrier x And a pair of V x Integrating to obtain the displacement S of the second carrier x ；
The method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module further comprises the step of acquiring the training parameters according to V x The calculation formula for calculating the stroke S of the second carrier is
Figure FDA00037884675900000112
t is time, and is for S in at least one cycle x Taking the maximum value and the minimum value to obtain S xmax And S xmin And according to formula S max ＝S xmax -S xmin Calculating the maximum stroke S max 。
2. The engravable rehabilitation training parameter acquisition intelligence module according to claim 1, wherein: the method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module further comprises the step of counting the reciprocating training times of the first carrier according to the positive and negative change conditions of w, wherein the reciprocating training times are +1 when the angular speed direction changes twice.
3. The engravable rehabilitation training parameter acquisition intelligence module according to claim 1, wherein: the method for acquiring the training parameters by the grafted rehabilitation training parameter acquisition intelligent module further comprises the step of acquiring the training parameters according to V x The number of times of reciprocating training of the second carrier is counted, and the number of times of reciprocating training is plus 1 when the speed and the direction change twice.
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