CN110215676A - A kind of upper limb both arms rehabilitation training man-machine interaction method and system - Google Patents
A kind of upper limb both arms rehabilitation training man-machine interaction method and system Download PDFInfo
- Publication number
- CN110215676A CN110215676A CN201910520003.0A CN201910520003A CN110215676A CN 110215676 A CN110215676 A CN 110215676A CN 201910520003 A CN201910520003 A CN 201910520003A CN 110215676 A CN110215676 A CN 110215676A
- Authority
- CN
- China
- Prior art keywords
- upper limb
- training
- patient
- scene
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- 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
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- 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
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
- A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
-
- 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
- A63B24/0021—Tracking a path or terminating locations
-
- 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
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
-
- 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
-
- 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
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
- A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
- A63B2024/0012—Comparing movements or motion sequences with a registered reference
- A63B2024/0015—Comparing movements or motion sequences with computerised simulations of movements or motion sequences, e.g. for generating an ideal template as reference to be achieved by 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
- A63B24/0021—Tracking a path or terminating locations
- A63B2024/0025—Tracking the path or location of one or more users, e.g. players of a game
-
- 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
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/065—Visualisation of specific exercise parameters
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of upper limb both arms rehabilitation training man-machine interaction methods, including, select Training scene, display Training scene；Control instruction is issued according to Training scene；The force data of spatial position and pivoting angle data and upper limb end of the acquisition patient's upper limb shoulder joint, elbow joint and wrist joint under global coordinate system in real time；The data of acquisition are resolved, the motion profile of upper limb and shoulder, elbow, the joint angles of wrist and patient end force data in patient's upper limb training process are obtained；And the motion profile of upper limb real-time display in virtual scene, guidance patient carries out track training, and passes through the comparison of Training scene and virtual scene, to judge the rehabilitation situation of patient's upper limb.In addition, additionally providing upper limb both arms rehabilitation training man-machine interactive system.Upper limb both arms rehabilitation training man-machine interaction method provided by the invention and system, it is intended to help patient to carry out postoperative rehabilitation training of upper limbs, and convenient for carrying out special training to patient, can be improved training effect.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of upper limb both arms rehabilitation training man-machine interaction method
And system.
Background technique
In medical science of recovery therapy field, the postoperative upper limb healing treatment of patients with cerebral apoplexy is generally passed through by Physical Therapist and patient one-to-one
Direct long-time extremity, assist patient to carry out limb motion by Physical Therapist, add communication, drug therapy etc., instruction
Practice patient and carry out a large amount of repeatable motions repeatedly, gradually stimulates damaged brain nerve, repair cranial nerve.This repeatability is a pair of
The low efficiency of one training, at high cost, should not be in operation.And therapist is not easy to understand its training degree and effect in time,
It cannot accomplish organically to combine function evaluation and test, kinesiatrics and psychotherapy.Secondly, training process dullness is barren, it is unfavorable for
Promote patient is aggressive to participate in treatment, so that patient loses Rehabilitation confidence.
Summary of the invention
The object of the present invention is to provide a kind of upper limb both arms rehabilitation training man-machine interaction method and systems, it is intended to around helping
The patients such as neurotrosis (brachial plexus), nervous centralis (cerebral apoplexy) carry out postoperative rehabilitation training of upper limbs, and convenient for carrying out to patient
Special training can be improved training effect.
To achieve the above object, the present invention provides following schemes:
A kind of upper limb both arms rehabilitation training man-machine interaction method, including,
Training scene is selected, and shows the Training scene；
Control instruction is issued according to the Training scene, the control instruction is that execution needed for patient is corresponding in scene
Instruction；
Spatial position and rotation angle of the acquisition patient's upper limb shoulder joint, elbow joint and wrist joint under global coordinate system in real time
Degree is accordingly and the force data of upper limb end；
Spatial position and pivoting angle data and force data are resolved, upper limb in patient's upper limb training process is obtained
Motion profile and shoulder, elbow, the joint angles of wrist and patient end exert a force data；Wherein, the motion profile of upper limb is virtual
Selected track comparison, guidance patient carry out track training in real-time display, with Training scene in scene, and upper limb joint angle is used for
The movement of dummy model hand in virtual scene is controlled, the motion profile of upper limb and joint angles combination patient end force data are used
In the rehabilitation situation for judging patient's upper limb.
Optionally, the motion profile of upper limb is subjected to real-time display in virtual scene using VR glasses or display screen.
Optionally, in the selection Training scene, and before showing selected Training scene, comprising:
Patient's upper limb shoulder joint, the spatial position and rotation of elbow joint and wrist joint under global coordinate system when acquisition training
The force data of angle-data and upper limb end.
Optionally, a kind of upper limb both arms rehabilitation training man-machine interaction method further includes being trained according to patient's upper limb
The motion profile set in motion profile in the process, joint angle activity point of view and end force data and Training scene compares,
The training process of patient is evaluated.
Also disclose a kind of upper limb both arms rehabilitation training man-machine interactive system.The upper limb both arms rehabilitation training human-computer interaction
System includes:
Training scene selecting module for selecting Training scene, and shows the Training scene；
Instruction control module, for issuing control instruction according to the Training scene, the control instruction is to suffer from scene
The corresponding instruction of execution needed for person；
Data acquisition module, for acquiring patient's upper limb shoulder joint, elbow joint and wrist joint in real time under global coordinate system
Spatial position and pivoting angle data and upper limb end force data；
Data calculation module obtains patient for resolving to spatial position and pivoting angle data and force data
The motion profile of upper limb and shoulder, elbow, the joint angles of wrist and patient end force data in upper limb training process；Wherein, on
Selected track comparison, guidance patient carry out track instruction to the motion profile of limb in real-time display, with Training scene in virtual scene
Practice, upper limb joint angle is used to control the movement of dummy model hand in virtual scene, the motion profile and joint angles knot of upper limb
Close the rehabilitation situation that patient end force data are used to judge patient's upper limb；
Display module, for the motion profile of upper limb to be carried out real-time display in virtual scene.
Optionally, display module described in the display module includes VR glasses and display screen.
Optionally, the trained selecting module is also used to according to patient's upper limb shoulder joint, elbow when the training acquired in real time
The force data of the spatial position and pivoting angle data and upper limb end of joint and wrist joint under global coordinate system, transformation
Training scene.
Optionally, the upper limb both arms rehabilitation training man-machine interactive system, further includes evaluation module, for according to patient
The movement rail set in motion profile, joint angle activity point of view and end force data and Training scene in upper limb training process
Mark comparison, evaluates the training process of patient.
Optionally, the data acquisition module includes several upper extremity exercise capture units and power sensing unit；On described
The motion-captured unit of limb for acquiring spatial position and the posture number of patient's upper limb shoulder joint, elbow joint and wrist joint in real time
According to；The power sensing unit for acquiring the force data of patient's upper limb end in real time.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: a kind of upper limb both arms rehabilitation
Training man-machine interaction method and system, it is intended to the patients such as peripheral nerve injury (brachial plexus), nervous centralis (cerebral apoplexy) be helped to carry out
Postoperative rehabilitation training of upper limbs.In patient's training process, corresponding Training scene is devised, by by patient's upper extremity exercise track
With dummy model hand real-time display into Training scene, uninteresting rehabilitation training of upper limbs is become to accumulate intensely interesting human-computer interaction trip
Play.In addition, to provide corresponding Training scene according to the training demand of patient, this is conveniently by the selection for being trained scene
In carrying out special training to patient, training effect is improved.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is upper limb of embodiment of the present invention both arms rehabilitation training man-machine interaction method flow chart；
Fig. 2 is upper limb of embodiment of the present invention both arms rehabilitation training man-machine interactive system structure principle chart；
Fig. 3 is upper limb of embodiment of the present invention both arms rehabilitation training man-machine interactive system pictorial diagram.
Appended drawing reference are as follows: 1- Training scene selecting module, 2- instruction control module, 3- data acquisition module, 4- data solution
Calculate module, 5- visualization processing module, 6- display module, 7- image training robot, 31- upper extremity exercise capture unit, 32- power sensing
Unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of upper limb both arms rehabilitation training man-machine interaction method and systems, it is intended to help patient
Postoperative rehabilitation training of upper limbs is carried out, and convenient for carrying out personalized training to patient.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is upper limb of embodiment of the present invention both arms rehabilitation training man-machine interaction method flow chart, as shown in Figure 1, in one kind
Limb both arms rehabilitation training man-machine interaction method, including,
Training scene is selected, and the Training scene is shown by VR glasses or display screen；
Control instruction is issued according to the Training scene, the control instruction is that execution needed for patient is corresponding in scene
Instruction；
Spatial position and rotation angle of the acquisition patient's upper limb shoulder joint, elbow joint and wrist joint under global coordinate system in real time
Degree is accordingly and the force data of upper limb end；
The spatial position data and the force data are resolved, upper limb in patient's upper limb training process is obtained
Motion profile and shoulder, elbow, the joint angles of wrist and patient end force data；
The shoulder joint, elbow joint and carpal motion profile and the dummy model hand are carried out at visualization
Reason；And it is shown by VR glasses or display screen.
Wherein there are two types of modes for selection Training scene: one is directly select Training scene so that patient is trained；Separately
One is motor function situation of the training content before basis to patient's upper limb to assess, according to being assessed as a result, choosing
Suitable Training scene is selected so that patient is trained.
It, can also be according to patient after patient completes training in order to advanced optimize technical solution disclosed in this invention
The motion profile set in motion profile and Training scene in upper limb training process, the training process of patient is evaluated or
Provide specific training score.
Fig. 2 is upper limb of embodiment of the present invention both arms rehabilitation training man-machine interactive system structure principle chart, as shown in Fig. 2, this
A kind of upper limb both arms rehabilitation training man-machine interactive system of disclosure of the invention, comprising: for selecting the Training scene of Training scene to select
Select module 1；Instruction control module for execution corresponding instruction needed for issuing patient in scene according to the Training scene
2；For acquiring spatial position and pivoting angle data and the upper limb of patient's upper limb shoulder joint, elbow joint and wrist joint in real time
The data acquisition module 3 of the force data of end；For being resolved to the spatial position data and the force data, obtain
The data calculation of shoulder joint, elbow joint and carpal motion profile and end force data into patient's upper limb training process
Module 4；For the motion profile to the shoulder joint, elbow joint and carpal motion profile and the dummy model hand into
The visualization processing module 5 of row visualization processing；And for showing selected Training scene and visualization processing result
Display module 6.
Wherein, display module 6 includes VR glasses and display screen.As shown in figure 3, data acquisition module includes several upper limbs
Motion-captured unit 31 and power sensing unit 32；Upper extremity exercise capture unit 31 for acquiring patient's upper limb shoulder joint, elbow in real time
The spatial position and attitude data of joint and wrist joint；The power sensing unit 32 for acquiring patient's upper limb end in real time
Exert a force data.
Training scene selecting module 1 by two ways select Training scene, one is directly select Training scene for
Patient is trained；Training content before another kind is basis assesses the motor function situation of patient's upper limb, according to
It is being assessed as a result, selecting suitable Training scene so that patient is trained.
Further perfect for upper limb both arms rehabilitation training man-machine interactive system function, system can also include being used for
According to the motion profile set in the motion profile and Training scene in patient's upper limb training process, to the training process of patient into
The evaluation module of row evaluation.
The data transmission of each intermodule can pass through in upper limb both arms rehabilitation training man-machine interactive system provided by the invention
Wireless communication module carries out.Specifically, wireless communication module may include cable, interchanger, router.Cable and interchanger are used
It is transmitted in the data for realizing upper extremity exercise capture unit 31 and each intermodule, router configuration Wireless LAN, by each module
Communication control under same local area network, realize in real time efficiently network communication.
Further, it is flowed using the specific training of upper limb both arms rehabilitation training man-machine interaction method disclosed by the invention and system
Journey are as follows:
It is theoretical according to upper limb healing in display module 6, it-contracts-for stretching for daily life upper limb and takes-put movement, it can be with
Design the shooting game training scene under mirror image training mode and the fruit game training scene under collaboration mode.
Specifically, patient's healthy side hand is master end under game training mode of shooting, operation training robot 7 is corresponding to suffer from
The strong side mechanical arm and Ipsilateral mechanical arm of person carries out passively mirror movements, and the ipsilateral upper limb of patient is driven to move.Virtual
It shoots in scene of game, is good for side form type hand and Ipsilateral model hand mirror movements, reappears the movement of real world patient upper limb in real time
Track completes in virtual scene that upper limb is a series of and stretches-taking-the basic act of shooting such as to throw-putting, and steps are as follows:
System initialization, specifically: open display screen select mirror image training mode, by Training scene selecting module 1 into
Enter to shoot game training scene.Wherein initialization further includes the initialization of upper extremity exercise capture unit 31: system being made to start to capture
Upper extremity exercise posture；Image training robot 7 initializes: robot, which reaches, formulates position, into order listening state；
End wearing, posture calibration, specifically: patient's upper limb keeps certain posture, virtual mould in the posture and VR glasses
Type hand initial attitude is consistent, progress pose calibrating, and after the completion of pose calibrating, patient's upper limb end is fixed on image training robot 7
End.
Start to train, specifically: initiation command is issued by instruction control module 2, each system module is started to work, training
When, patient's healthy side hand drives the strong side manipulator motion of image training robot 7, Ipsilateral hand-motion Ipsilateral mechanical arm real-time perfoming mirror image
Movement, it is corresponding to realize that patient is strong, mirror movements of Ipsilateral arm.In data acquisition module 3, upper extremity exercise capture unit 31 and power
Sensing unit 32 in real time by acquired patient's upper limb shoulder joint, elbow joint and carpal spatial position and pivoting angle data with
And the force data of upper limb end are transferred to data calculation module 4.It is resolved by data calculation module 4 and obtains the training of patient's upper limb
The force data of shoulder joint, elbow joint and carpal motion profile and upper limb end in the process, visualization processing unit 5 into
It is graphically shown after row visualization processing, the foundation as assessment patient's upper limb state.In VR glasses, patient motion
Track is mapped to dummy model on hand in real time.Patient manipulates image training robot 7 and completes taking for basketball in scene training unit first
Movement is taken, patient starts act of shooting by lifting two sides arm, when height reaches certain position, reach releasable region,
Patient's upper limb two sides arm forward extends out release basketball, and the height of basketball release determines that basketball is initially fast by upper limb end height
Upper limb tip speed controls when degree and radian are by discharging, and two item datas are by upper extremity exercise capture unit 31 and power sensing unit 32
The data of middle acquisition calculate gained；In the training process, instruction control module 2 provides task instruction, and patient is helped to complete rehabilitation
Training.
Training terminates, specifically: it is trained when patient's completion training mission or medical staff terminate, may be selected to continue lower single order
Section rehabilitation training or deconditioning.
Under fruit game training mode, strong, Ipsilateral mechanical arm is submissive state, follows the movement of patient's upper limb completely
Track is moved, and in fruit game training virtual scene, two sides dummy model hand reappears patient's upper extremity exercise, training step in real time
It is rapid as follows:
System initialization, specifically: display screen selection cooperation training mode is opened, Training scene selecting module 1 enters water
Fruit game training scene.Wherein initialization further includes the initialization of upper extremity exercise capture unit 31: system being made to start to capture upper limb
Athletic posture；Image training robot 7 initializes: robot, which reaches, formulates position, into order listening state；
End wearing, posture calibration, specifically: patient's upper limb keeps certain posture, virtual mould in the posture and VR glasses
Type hand initial attitude is consistent, progress pose calibrating, and after the completion of pose calibrating, patient's upper limb end is fixed on image training robot 7
End.
Start to train, specifically: initiation command is issued by instruction control module 2, each system module is started to work, training
When, strong, Ipsilateral mechanical arm is in submissive state, and patient's upper extremity exercise track is followed to move completely.Data acquisition module 3
In, upper extremity exercise capture unit 31 and power sensing unit 32 give patient's upper extremity exercise status data transfers to data calculation mould in real time
Block 4.It is resolved by data calculation module 4 and obtains shoulder joint, elbow joint and carpal movement rail in patient's upper limb training process
Mark and upper limb end exert a force data, and visualization processing unit 5 is graphically shown after carrying out visualization processing, as commenting
Estimate the foundation of patient's upper limb state.In VR glasses, patient motion track is mapped to dummy model on hand in real time.Patient manipulates instruction
White silk robot 7 is good for side mechanical arm and picks up the basket for filling fruit in Training scene, and Ipsilateral hand lifts and sideway movement in left and right is taken
Fruit, stretching, extension puts fruits into designated place forward, successively carries out the movement of next fruit.In the training process, guidance control
Module 2 provides task instruction, and patient is helped to complete rehabilitation training.
Training terminates, specifically: it is trained when patient's completion training mission or medical staff terminate, may be selected to continue lower single order
Section rehabilitation training or deconditioning.
In two kinds of rehabilitation training modes, VR glasses or display screen provide visual stimulus, and real world patient's upper limb is transported
Dynamic rail mark is mapped to virtual world models on hand in real time, realizes virtual-real interaction.Patient passes through in dummy model hand and virtual scene
Things carry out empty-empty interaction, trained result will show in virtual scene that real-time display is suffered from VR glasses or display screen
The parameter of person's upper extremity exercise helps patient and medical care to understand the motion state of patient's upper limb in real time.
Patient and doctor can be according to the rehabilitation situation adjusting training times, and pass through the rigidity for changing image training robot 7, come
Change training difficulty.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: a kind of upper limb both arms rehabilitation
Training man-machine interaction method and system, it is intended to the patients such as peripheral nerve injury (brachial plexus), nervous centralis (cerebral apoplexy) be helped to carry out
Postoperative rehabilitation training of upper limbs.In patient's training process, corresponding Training scene is devised, by by patient's upper extremity exercise track
Motion profile real-time display with stress object becomes uninteresting rehabilitation training of upper limbs to accumulate intensely interesting people into Training scene
Machine interactive game.In addition, by the selection for being trained scene, to provide corresponding training place according to the training demand of patient
Scape, this, which is facilitated, carries out special training to patient, improves training effect.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (9)
1. a kind of upper limb both arms rehabilitation training man-machine interaction method, which is characterized in that including,
Training scene is selected, and shows the Training scene；
Control instruction is issued according to the Training scene, the control instruction is the corresponding finger of execution needed for patient in scene
It enables；
Spatial position and rotation angle number of the acquisition patient's upper limb shoulder joint, elbow joint and wrist joint under global coordinate system in real time
Accordingly and the force data of upper limb end；
Spatial position and pivoting angle data and force data are resolved, the fortune of upper limb in patient's upper limb training process is obtained
Dynamic rail mark and shoulder, elbow, the joint angles of wrist and patient end force data；Wherein, the motion profile of upper limb is in virtual scene
Middle real-time display is compared with track selected in Training scene, and guidance patient carries out track training, and upper limb joint angle is for controlling
The movement of dummy model hand in virtual scene, the motion profile of upper limb and joint angles combination patient end force data are for sentencing
The rehabilitation situation of disconnected patient's upper limb.
2. a kind of upper limb both arms rehabilitation training man-machine interaction method according to claim 1, which is characterized in that use VR
The motion profile of upper limb is carried out real-time display by mirror or display screen in virtual scene.
3. a kind of upper limb both arms rehabilitation training man-machine interaction method according to claim 1, which is characterized in that in the choosing
Training scene is selected, and before showing selected Training scene, comprising:
The spatial position and rotation angle of patient's upper limb shoulder joint, elbow joint and wrist joint under global coordinate system when acquisition training
Data and the force data of upper limb end.
4. a kind of upper limb both arms rehabilitation training man-machine interaction method according to claim 1, which is characterized in that further include,
According in patient's upper limb training process motion profile, joint angle activity point of view and end force data and Training scene in set
Motion profile comparison, the training process of patient is evaluated.
5. a kind of upper limb both arms rehabilitation training man-machine interactive system characterized by comprising
Training scene selecting module for selecting Training scene, and shows the Training scene；
Instruction control module, for issuing control instruction according to the Training scene, the control instruction is patient institute in scene
Need the corresponding instruction of execution；
Data acquisition module, for acquiring patient's upper limb shoulder joint, the sky of elbow joint and wrist joint under global coordinate system in real time
Between the force data of position and pivoting angle data and upper limb end；
Data calculation module obtains patient's upper limb for resolving to spatial position and pivoting angle data and force data
The motion profile of upper limb and shoulder, elbow, the joint angles of wrist and patient end force data in training process；Wherein, upper limb
Motion profile real-time display in virtual scene is compared with track selected in Training scene, and guidance patient carries out track training, on
Limb joint angles are used to control the movement of dummy model hand in virtual scene, the motion profile of upper limb and joint angles combination patient
End force data are used to judge the rehabilitation situation of patient's upper limb；
Display module, for the motion profile of upper limb to be carried out real-time display in virtual scene.
6. a kind of upper limb both arms rehabilitation training man-machine interactive system according to claim 5, which is characterized in that the display
Display module described in module includes VR glasses and display screen.
7. a kind of upper limb both arms rehabilitation training man-machine interactive system according to claim 5, which is characterized in that the training
Selecting module is also used to according to patient's upper limb shoulder joint, elbow joint and wrist joint when the training acquired in real time in world coordinates
The force data of spatial position and pivoting angle data and upper limb end under system, convert Training scene.
8. a kind of upper limb both arms rehabilitation training man-machine interactive system according to claim 5, which is characterized in that further include,
Evaluation module, for according in patient's upper limb training process motion profile, joint angle activity point of view and end force data with
The motion profile comparison set in Training scene, evaluates the training process of patient.
9. a kind of upper limb both arms rehabilitation training man-machine interactive system according to claim 5, which is characterized in that the data
Acquisition module includes several upper extremity exercise capture units and power sensing unit；The upper extremity exercise capture unit for adopting in real time
Collect spatial position and the attitude data of patient's upper limb shoulder joint, elbow joint and wrist joint；The power sensing unit is for real-time
Acquire the force data of patient's upper limb end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910520003.0A CN110215676A (en) | 2019-06-17 | 2019-06-17 | A kind of upper limb both arms rehabilitation training man-machine interaction method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910520003.0A CN110215676A (en) | 2019-06-17 | 2019-06-17 | A kind of upper limb both arms rehabilitation training man-machine interaction method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110215676A true CN110215676A (en) | 2019-09-10 |
Family
ID=67817302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910520003.0A Pending CN110215676A (en) | 2019-06-17 | 2019-06-17 | A kind of upper limb both arms rehabilitation training man-machine interaction method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110215676A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110742775A (en) * | 2019-10-12 | 2020-02-04 | 东南大学 | Upper limb active and passive rehabilitation training robot system based on force feedback technology |
| CN110812798A (en) * | 2019-11-14 | 2020-02-21 | 复旦大学 | VR-based forearm internal and external rotation training evaluation system and method and storage medium |
| CN111631726A (en) * | 2020-06-01 | 2020-09-08 | 深圳华鹊景医疗科技有限公司 | Upper limb function evaluation device and method and upper limb rehabilitation training system and method |
| CN111772640A (en) * | 2020-07-10 | 2020-10-16 | 深圳市丞辉威世智能科技有限公司 | Limb movement training guidance method and device and storage medium |
| CN111951941A (en) * | 2020-08-24 | 2020-11-17 | 广元量知汇科技有限公司 | Intelligent medical rehabilitation auxiliary management system |
| CN112891137A (en) * | 2021-01-21 | 2021-06-04 | 深圳华鹊景医疗科技有限公司 | Upper limb rehabilitation robot system, robot control method and device |
| CN113274242A (en) * | 2021-04-21 | 2021-08-20 | 上海大学 | Small-size intelligent upper limbs rehabilitation robot |
| CN113332668A (en) * | 2021-06-02 | 2021-09-03 | 上海市徐汇区中心医院 | Trunk control training device and training method thereof |
| 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 |
| CN114712148A (en) * | 2021-01-06 | 2022-07-08 | 厦门威恩科技有限公司 | Upper limb dynamic test method based on upper limb rehabilitation training robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000271180A (en) * | 1999-03-25 | 2000-10-03 | Sanyo Electric Co Ltd | Limb function recovery training support system |
| CN103006415A (en) * | 2012-12-25 | 2013-04-03 | 上海大学 | Control device and method for upper limb movement training robot |
| CN103230664A (en) * | 2013-04-17 | 2013-08-07 | 南通大学 | Upper limb movement rehabilitation training system and method based on Kinect sensor |
| CN107261417A (en) * | 2017-07-07 | 2017-10-20 | 广州康医疗设备实业有限公司 | Man-machine interactive system for rehabilitation training of upper limbs |
| CN107349570A (en) * | 2017-06-02 | 2017-11-17 | 南京邮电大学 | Rehabilitation training of upper limbs and appraisal procedure based on Kinect |
| CN108324503A (en) * | 2018-03-16 | 2018-07-27 | 燕山大学 | Healing robot self-adaptation control method based on flesh bone model and impedance control |
-
2019
- 2019-06-17 CN CN201910520003.0A patent/CN110215676A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000271180A (en) * | 1999-03-25 | 2000-10-03 | Sanyo Electric Co Ltd | Limb function recovery training support system |
| CN103006415A (en) * | 2012-12-25 | 2013-04-03 | 上海大学 | Control device and method for upper limb movement training robot |
| CN103230664A (en) * | 2013-04-17 | 2013-08-07 | 南通大学 | Upper limb movement rehabilitation training system and method based on Kinect sensor |
| CN107349570A (en) * | 2017-06-02 | 2017-11-17 | 南京邮电大学 | Rehabilitation training of upper limbs and appraisal procedure based on Kinect |
| CN107261417A (en) * | 2017-07-07 | 2017-10-20 | 广州康医疗设备实业有限公司 | Man-machine interactive system for rehabilitation training of upper limbs |
| CN108324503A (en) * | 2018-03-16 | 2018-07-27 | 燕山大学 | Healing robot self-adaptation control method based on flesh bone model and impedance control |
Non-Patent Citations (1)
| Title |
|---|
| 纪雯: "《上肢康复机器人训练及评价系统》", 31 December 2017, 中国矿业大学出版社有限责任公司 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110742775A (en) * | 2019-10-12 | 2020-02-04 | 东南大学 | Upper limb active and passive rehabilitation training robot system based on force feedback technology |
| CN110812798A (en) * | 2019-11-14 | 2020-02-21 | 复旦大学 | VR-based forearm internal and external rotation training evaluation system and method and storage medium |
| CN111631726A (en) * | 2020-06-01 | 2020-09-08 | 深圳华鹊景医疗科技有限公司 | Upper limb function evaluation device and method and upper limb rehabilitation training system and method |
| CN111772640A (en) * | 2020-07-10 | 2020-10-16 | 深圳市丞辉威世智能科技有限公司 | Limb movement training guidance method and device and storage medium |
| CN111772640B (en) * | 2020-07-10 | 2023-09-29 | 深圳市丞辉威世智能科技有限公司 | Limb exercise training guiding method, device and storage medium |
| CN111951941A (en) * | 2020-08-24 | 2020-11-17 | 广元量知汇科技有限公司 | Intelligent medical rehabilitation auxiliary management system |
| CN114712148A (en) * | 2021-01-06 | 2022-07-08 | 厦门威恩科技有限公司 | Upper limb dynamic test method based on upper limb rehabilitation training robot |
| CN114712148B (en) * | 2021-01-06 | 2024-03-01 | 厦门威恩科技有限公司 | Upper limb dynamic test method based on upper limb rehabilitation training robot |
| CN112891137A (en) * | 2021-01-21 | 2021-06-04 | 深圳华鹊景医疗科技有限公司 | Upper limb rehabilitation robot system, robot control method and device |
| CN113274242A (en) * | 2021-04-21 | 2021-08-20 | 上海大学 | Small-size intelligent upper limbs rehabilitation robot |
| CN113332668A (en) * | 2021-06-02 | 2021-09-03 | 上海市徐汇区中心医院 | Trunk control training device and training method thereof |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110215676A (en) | A kind of upper limb both arms rehabilitation training man-machine interaction method and system | |
| JP7382415B2 (en) | Upper limb function evaluation device and method and upper limb rehabilitation training system and method | |
| WO2021068542A1 (en) | Force feedback technology-based robot system for active and passive rehabilitation training of upper limbs | |
| Zannatha et al. | Development of a system based on 3D vision, interactive virtual environments, ergonometric signals and a humanoid for stroke rehabilitation | |
| CN106964150B (en) | Action positioning point control system and sleeve type positioning point control equipment thereof | |
| CN110013419A (en) | A kind of both arms healing robot and training method | |
| CN108814894A (en) | The upper limb rehabilitation robot system and application method of view-based access control model human body pose detection | |
| CN105963926A (en) | Multi-mode fusion hand function rehabilitation training and intelligent evaluation system | |
| CN104524742A (en) | Cerebral palsy child rehabilitation training method based on Kinect sensor | |
| CN103019386B (en) | A kind of control method of human-computer interaction and its utilization | |
| Papaleo et al. | Patient-tailored adaptive robotic system for upper-limb rehabilitation | |
| CN114366556B (en) | Multimode training control system and method for lower limb rehabilitation | |
| Taheri et al. | Robot-assisted Guitar Hero for finger rehabilitation after stroke | |
| WO2021226445A1 (en) | Avatar tracking and rendering in virtual reality | |
| CN108524187A (en) | A kind of upper limb rehabilitation robot control system of six degree of freedom | |
| CN109907936A (en) | Rehabilitation training of upper limbs equipment based on virtual reality | |
| CN102716002A (en) | Seated horizontal type lower limb rehabilitation robot and corresponding passive training control method | |
| Chen et al. | Motion guidance sleeve: Guiding the forearm rotation through external artificial muscles | |
| Aung et al. | A novel upper limb rehabilitation system with self-driven virtual arm illusion | |
| US20230023609A1 (en) | Systems and methods for animating a simulated full limb for an amputee in virtual reality | |
| CN112827153A (en) | Active self-adaptive system for human body function training and control method thereof | |
| CN111450511A (en) | System and method for limb function assessment and rehabilitation training of cerebral apoplexy | |
| Esfahlani et al. | Intelligent physiotherapy through procedural content generation | |
| Aung et al. | Augmented reality based illusion system with biofeedback | |
| Friedrich et al. | Serious Games for Home-based Stroke Rehabilitation. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190910 |
|
| RJ01 | Rejection of invention patent application after publication |