CN111067538A - Method and system for evaluating upper limb movement function based on force and position information - Google Patents
Method and system for evaluating upper limb movement function based on force and position information Download PDFInfo
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Abstract
The invention discloses a method and a system for evaluating the movement function of an upper limb based on force and position information, wherein the method comprises the following steps: performing linear track and circular track rehabilitation training on the upper limb of a testee to acquire linear motion track data, circular motion track data and contact force; processing the linear and circular motion track data to obtain linear motion reachable capacity parameters, circular motion reachable capacity parameters, average speed, average track deviation and motion accurate evaluation values; evaluating the operation execution control capability according to the straight line and circular motion reachable capability parameters and the average speed, and evaluating the motion accuracy control capability according to the average track deviation and the motion accuracy evaluation value; analyzing the contact force extraction force fluctuation range and the force distribution ratio in the direction vertical to the body; and evaluating the application force control capacity of the subject according to the force fluctuation range and the force distribution ratio. The method can objectively and accurately evaluate the motion function of the upper limbs of the user in real time based on force and position information in detail.
Description
Technical Field
The invention relates to the technical field of upper limb rehabilitation of stroke patients, in particular to a method and a system for evaluating an upper limb movement function based on force and position information.
Background
Stroke, a common disease of cerebrovascular blood circulation disorder. With the increasing of the global aging degree and the increasing of the problems of heavy pressure and irregular life of young people, the number of stroke patients in China is on the rise in recent years, and the stroke patients become the first disease causing disability in China. More than 85% of stroke survivors are accompanied by upper limb motor dysfunction. In addition to the complexity and diversity of the motor functions of the upper limbs, the evaluation and diagnosis of the motor functions of the upper limbs become the key and difficult point of stroke rehabilitation.
Because the number of existing rehabilitation doctors is deficient, the increasing rehabilitation requirements of stroke patients are difficult to meet. The rehabilitation robot technology can better help a rehabilitation doctor to provide a large amount of repeated rehabilitation training for a cerebral apoplexy patient, and in addition, the rehabilitation robot can realize quantitative limb movement function evaluation through man-machine interaction in the process of assisting the patient to carry out the movement training, so that the Fugl-Meyer scale evaluation method of a clinical hemiplegic patient is replaced, the defects of time consumption, result subjectivity and the like of clinical evaluation are overcome, and effective support is provided for optimizing a rehabilitation treatment strategy.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a method for evaluating upper limb motor function based on force and position information, which overcomes the shortcomings of the existing clinical upper limb motor function evaluation method and can objectively and accurately evaluate the upper limb motor function of a user in real time based on force and position information in detail.
Another object of the present invention is to provide a system for estimating upper limb movement function based on force and position information.
In order to achieve the above object, an embodiment of the present invention provides a method for estimating upper limb movement function based on force and position information, including the following steps: the upper limb rehabilitation robot is used for enabling the upper limb of a testee to carry out rehabilitation training of a linear track and a circular track, and acquiring linear motion track data, circular motion track data and contact force through a sensor of the upper limb rehabilitation robot; extracting and processing actual linear trajectory data and target linear trajectory data in the linear motion trajectory data to obtain linear motion reachable capacity parameters; extracting and processing actual circular trajectory data in the circular motion trajectory data to obtain circular motion reachable capacity parameters; extracting and processing the motion trail and time information in the linear motion trail data and the circular motion trail data to obtain the average speed of the subject in motion; carrying out average difference processing and standardization processing on the linear motion trajectory data and the circular motion trajectory data to obtain average trajectory deviation and a motion accurate evaluation value; analyzing the contact force extraction force fluctuation range and the force distribution ratio in the direction vertical to the body; evaluating the operational execution control capability of the subject according to the linear motion reachable capability parameter, the circular motion reachable capability parameter and the average speed; evaluating the motion accuracy control capability of the subject according to the average track deviation and the motion accuracy evaluation value; evaluating the subject's ability to control the amount of applied force based on the range of force fluctuation and the ratio of force distribution.
According to the method for evaluating the upper limb movement function based on the force and position information, the data acquired by the sensor in the robot training process is used as the evaluation basis of the movement function in the upper limb rehabilitation process, the pressure of the lack of the number of the existing rehabilitation doctors is reduced, the defect of subjectivity evaluation of the rehabilitation doctors is overcome, and the movement function of the patient can be evaluated more objectively and accurately through the data acquired by the sensor.
In addition, the method for estimating the upper limb movement function based on the force and position information according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the extracting and processing actual linear trajectory data and target linear trajectory data in the linear motion trajectory data to obtain a linear motion reachable capability parameter includes: extracting the actual linear track data and the target linear track data from the linear motion track data; and determining a direction deviation angle between the actual motion track direction and the target track according to the actual linear track data and the target linear track data, and taking the deviation angle as the linear motion reachable capacity parameter.
Further, in an embodiment of the present invention, the extracting and processing actual motion trajectory data in the circular motion trajectory data to obtain circular motion reachable capacity parameters includes: extracting the actual circular track data from the circular motion track data; fitting an elliptic curve general equation according to the actual circular track data, and calculating the ratio of the minor half axis to the major half axis as the circular motion reachable capacity parameter.
Further, in an embodiment of the present invention, the sequentially performing an average difference process and a normalization process on the linear motion trajectory data and the circular motion trajectory data to obtain an average trajectory deviation and a motion accuracy evaluation value includes: obtaining the track deviation of the linear track by using the target linear track data in the linear motion track data; obtaining the track deviation of the circular track by using the circular motion track data, and carrying out standardization processing on the track deviation of the circular track to obtain the accurate motion evaluation value; and calculating to obtain the average track deviation by using the track deviation of the linear track and the track deviation of the circular track.
Further, in one embodiment of the present invention, when the linear-motion reachability parameter is closer to 0 and the circular-motion reachability parameter is closer to 1, the average speed is proportional to the operation execution control capability.
Further, in one embodiment of the present invention, the mean trajectory deviation is proportional to the motion accuracy assessment value, which is inversely proportional to the motion accuracy control capability of the subject.
Further, in one embodiment of the present invention, the force fluctuation range is inversely proportional to the force application amount control capability of the subject, and the force distribution ratio is proportional to the force application amount control capability of the subject.
In order to achieve the above object, another embodiment of the present invention provides a system for estimating upper limb movement function based on force and position information, including: the upper limb rehabilitation robot comprises an acquisition module, a contact force acquisition module and a control module, wherein the acquisition module is used for enabling the upper limb of a testee to carry out rehabilitation training of a linear track and a circular track by utilizing the upper limb rehabilitation robot and acquiring linear motion track data, circular motion track data and contact force through a sensor of the upper limb rehabilitation robot; the first processing module is used for extracting and processing actual linear track data and target linear track data in the linear motion track data to obtain linear motion reachable capacity parameters, extracting and processing actual circular track data in the circular motion track data to obtain circular motion reachable capacity parameters, extracting and processing motion track and time information in the linear motion track data and the circular motion track data, and obtaining the average speed of the subject in motion; the second processing module is used for carrying out average difference processing and standardization processing on the linear motion trajectory data and the circular motion trajectory data to obtain average trajectory deviation and a motion accurate evaluation value; the third processing module is used for analyzing the contact force extraction force fluctuation range and the force distribution ratio perpendicular to the body direction; an evaluation motion execution control capability module for evaluating the operation execution control capability of the subject according to the linear motion reachable capability parameter, the circular motion reachable capability parameter and the average speed; an assessment motion accuracy control capability module for assessing the motion accuracy control capability of the subject according to the mean trajectory deviation and the motion accuracy assessment value; an assessment exertion capacity control module for assessing exertion capacity control of the subject based on the force fluctuation range and the force distribution ratio.
According to the system for evaluating the upper limb movement function based on the force and position information, the data acquired by the sensor in the robot training process is used as the evaluation basis of the movement function in the upper limb rehabilitation process, the pressure of the lack of the number of the existing rehabilitation doctors is reduced, the defect of subjectivity evaluation of the rehabilitation doctors is overcome, and the movement function of the patient can be evaluated more objectively and accurately through the data acquired by the sensor.
In addition, the system for estimating the upper limb movement function based on the force and position information according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, when the linear-motion reachability parameter is closer to 0 and the circular-motion reachability parameter is closer to 1, the average speed is proportional to the operation execution control capability.
Further, in one embodiment of the present invention, the mean trajectory deviation is proportional to the motion accuracy assessment value, the motion accuracy assessment value is inversely proportional to the motion accuracy control ability of the subject, the force fluctuation range is inversely proportional to the exertion force control ability of the subject, and the force distribution ratio is proportional to the exertion force control ability of the subject.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for estimating upper limb motor function based on force and position information according to one embodiment of the present invention;
fig. 2 is a schematic structural diagram of a system for estimating upper limb movement function based on force and position information according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Hereinafter, a method and a system for estimating motor functions of upper limbs based on force and position information according to an embodiment of the present invention will be described with reference to the accompanying drawings, and first, a method for estimating motor functions of upper limbs based on force and position information according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for estimating upper limb movement function based on force and position information according to an embodiment of the present invention.
As shown in fig. 1, the method for estimating motor function of upper limbs based on force and position information includes the following steps:
in step S1, the upper limb of the subject is subjected to rehabilitation training with a linear trajectory and a circular trajectory by the upper limb rehabilitation robot, and linear motion trajectory data, circular motion trajectory data, and contact force are acquired by the sensor of the upper limb rehabilitation robot.
That is, the linear track and the circular track of the end of the arm of the upper limb are used as the basic evaluation motion of the patient, and the linear motion track data, the circular motion track data and the contact force are recorded by the robot sensor.
In step S2, the actual linear trajectory data and the target linear trajectory data in the linear motion trajectory data are extracted and processed to obtain the linear motion reachable ability parameter.
Further, in an embodiment of the present invention, extracting and processing actual linear trajectory data and target linear trajectory data in the linear motion trajectory data to obtain a linear motion reachable capability parameter, including:
extracting actual linear track data and target linear track data from the linear motion track data;
and determining a direction deviation angle between the actual motion track direction and the target track according to the actual linear track data and the target linear track data, and taking the deviation angle as a linear motion reachable capacity parameter.
Specifically, during the linear track motion, the deviation angle Δ between the direction of the actual motion track and the direction of the target track is usedangleReflecting the exercise execution ability of the subject, calculating formulaThe following were used:
wherein (x)re,yre) Represents the end point of the actual linear track motion (x)rs,yrs) Representing the starting point of the actual linear track motion; (x)te,yte) Indicating the end point of the target straight-line trajectory.
In step S3, the actual circular trajectory data in the circular motion trajectory data is extracted and processed to obtain circular motion reachable capability parameters.
Further, in an embodiment of the present invention, extracting and processing actual motion trajectory data in the circular motion trajectory data to obtain circular motion reachable capacity parameters includes:
extracting actual circular track data from the circular motion track data;
fitting an elliptic curve general equation according to actual circular track data, and calculating the ratio of the minor semi-axis to the major semi-axis as a circular motion reachable capacity parameter.
Specifically, in the circular track motion process, a general equation of a track fitting elliptic curve is actually drawn, and the ratio of the minor axis to the major axis is calculated to be used as the reachable capacity parameter of the circular track motion of the testee.
And fitting an ellipse general equation according to the actual track of the target, wherein the equation is as follows.
Ax2+Bxy+Cy2+Dx+Ey+1＝0
Geometric center coordinates of the ellipse:
the long half shaft is long:
short half shaft length:
ratio of minor half axis to major half axis:
in step S4, the motion trajectory and the time information in the linear motion trajectory data and the circular motion trajectory data are extracted and processed to obtain the average speed in the motion of the subject.
Specifically, the average speed in the motion process is calculated according to the motion track and the time information.
The distance between two points of the motion trail is used as the displacement between the two points, and the displacement is derived to obtain the motion speed.
Wherein (x)i+1,yi+1) Represents ti+1Terminal trace coordinate of time, (x)i,yi) Represents tiEnd trace of time, viRepresents tiVelocity of movement at time vi+1Represents ti+1The speed of movement at the moment.
The average speed during the exercise was as follows:
in step S5, the average difference processing and normalization processing are performed on the linear motion trajectory data and the circular motion trajectory data, and the average trajectory deviation and the motion accuracy evaluation value are obtained.
Further, in an embodiment of the present invention, the sequentially performing average difference processing and normalization processing on the linear motion trajectory data and the circular motion trajectory data to obtain an average trajectory deviation and a motion accuracy evaluation value includes:
obtaining the trajectory deviation of the linear trajectory by using the target linear trajectory data in the linear motion trajectory data;
obtaining the track deviation of the circular track by using the circular motion track data, and carrying out standardization processing on the track deviation of the circular track to obtain an accurate motion evaluation value;
and calculating to obtain the average track deviation by using the track deviation of the straight track and the track deviation of the circular track.
It should be noted that the deviation of the motion trajectory of the subject is used as an evaluation parameter of the motion accuracy control capability, and the average deviation of the motion in one motion period and the standardized motion accuracy evaluation value are mainly analyzed.
Specifically, the average trajectory deviation in one motion cycle is calculated as follows:
wherein displThe locus deviation of the straight locus is represented By A, B, C which is a coefficient in the general expression Ax + By + C of the target straight line equal to 0, (x)p,yp) Representing the actual motion track coordinates; dispCTrack deviation (x) representing a circular trackc,yc) The coordinates of the center of the target circle locus are represented, and r represents the radius of the target circle.
Standardizing the track deviation shown in the circular track motion process to obtain a standardized accurate motion evaluation value, which comprises the following steps:
in the normalization process, if | dispc|≥r,|dispcI.e. 0. ltoreq.Rdispc≤1。
Calculation of RdispcThe average value is used as an evaluation parameter for the accuracy of the motion of the circular drawing track of the subject.
Wherein R isdispc(i) A normalized motion accuracy evaluation value representing the i-th point circular trajectory.
In step S6, the contact force extraction force fluctuation range and the force distribution ratio in the direction perpendicular to the body are analyzed.
In particular, in the contact force parameter analysis, the fluctuation range F of the force is mainly extractedrangeRatio of force distribution to the direction perpendicular to the body
The calculation process is as follows:
Fmax＝max(F)
Frange＝max(F)-min(F)
wherein, Fox，FoyDenotes the magnitude of the x-axis and y-axis contact force in the i-point absolute coordinate system, and max (F) denotes the maximum value of FAnd min (F) represents the minimum value of F.
In step S7, the exercise execution control ability of the subject is evaluated based on the linear motion reachable ability parameter, the circular motion reachable ability parameter, and the average velocity, the exercise accuracy control ability of the subject is evaluated based on the average trajectory deviation and the exercise accuracy evaluation value, and the exertion force amount control ability of the subject is evaluated based on the force fluctuation range and the force distribution ratio.
Further, in one embodiment of the present invention, when the linear-motion reachability parameter is closer to 0 and the circular-motion reachability parameter is closer to 1, the average speed is proportional to the operation execution control capability.
That is to say the accessibility parameter Δ via the movement pathanglr、RratioParameter v of speed of movementaverageReflecting the patient's motor execution control capability: reachability parameter ΔangleThe closer to 0, RratioThe closer to 1, the moving speed vaverageThe larger the corresponding patient capacity.
Further, in one embodiment of the present invention, the mean trajectory deviation is proportional to a motion accuracy assessment, which is inversely proportional to the subject's motion accuracy control capability.
That is, by trajectory deviation dispaverage、
Reflecting the patient's motor precision control ability: deviation of motion trajectory dispaverageThe smaller, the normalized motion accurate estimate
The smaller the patient motion accuracy control capability.
Further, in one embodiment of the present invention, the force fluctuation range is inversely proportional to the force application amount control capability of the subject, and the force distribution ratio is proportional to the force application amount control capability of the subject.
In particular, by the amplitude of variation F of the contact forcerangeRatio of force distribution to the direction perpendicular to the body
Control ability reflecting subject applied force: amplitude of patient motion FrangeThe smaller the distribution ratio of the force in the direction perpendicular to the body
Larger indicates better force control capability for the patient.
According to the method for evaluating the motion function of the upper limb based on the force and position information, which is provided by the embodiment of the invention, the method interacts with a subject according to two basic forms of the motion track and the contact force, the motion track and the contact force are collected by using a sensor in the robot training process, the motion track and the contact force are analyzed, characteristic parameters such as motion accessibility, motion speed, motion accuracy, human-computer contact force and the like are extracted as motion function parameters in the upper limb rehabilitation evaluation process, and then information such as motion execution capacity, motion control capacity and the like of the subject is evaluated according to the motion function parameters, so that the pressure lacking in the number of existing rehabilitation doctors is relieved, the defect of subjective evaluation of the rehabilitation doctors is overcome, and the motion function of the patient can be evaluated more objectively and accurately through data collected by the sensor.
Next, a system for estimating the upper limb movement function based on force and position information according to an embodiment of the present invention will be described with reference to the drawings.
Fig. 2 is a schematic structural diagram of a system for estimating upper limb movement function based on force and position information according to an embodiment of the present invention.
As shown in fig. 2, the system 10 for estimating upper limb movement function based on force and position information includes: an acquisition module 100, a first processing module 200, a second processing module 300, a third processing module 400, an evaluate motion execution control capability module 500, an evaluate motion accuracy control capability module 600, and an evaluate applied force control capability module 700.
The acquisition module 100 is configured to enable an upper limb of a subject to perform rehabilitation training with a linear trajectory and a circular trajectory by using an upper limb rehabilitation robot, and acquire linear motion trajectory data, circular motion trajectory data, and a contact force by using a sensor of the upper limb rehabilitation robot. The first processing module 200 is configured to extract and process actual linear trajectory data and target linear trajectory data in the linear motion trajectory data to obtain a linear motion reachable capability parameter, extract and process actual circular trajectory data in the circular motion trajectory data to obtain a circular motion reachable capability parameter, extract and process motion trajectory and time information in the linear motion trajectory data and the circular motion trajectory data, and obtain an average speed of the subject in motion. The second processing module 300 is configured to perform average difference processing and normalization processing on the linear motion trajectory data and the circular motion trajectory data to obtain an average trajectory deviation and a motion accuracy evaluation value. The third processing module 400 is used to analyze the contact force extraction force fluctuation range and the force distribution ratio perpendicular to the body direction. The evaluation motion execution control capability module 500 is configured to evaluate the execution control capability of the subject based on the linear motion reachability parameter, the circular motion reachability parameter, and the average velocity. The assessment motion accuracy control capability module 600 is used to assess the motion accuracy control capability of the subject based on the mean trajectory deviation and the motion accuracy assessment value. The evaluate exerted force control capability module 700 is used to evaluate the exerted force control capability of the subject based on the force fluctuation range and the force distribution ratio.
Further, in one embodiment of the present invention, when the linear-motion reachability parameter is closer to 0 and the circular-motion reachability parameter is closer to 1, the average speed is proportional to the operation execution control capability.
Further, in one embodiment of the present invention, the mean trajectory deviation is proportional to a motion accuracy assessment value, the motion accuracy assessment value is inversely proportional to a subject's motion accuracy control ability, the force fluctuation range is inversely proportional to the subject's applied force control ability, and the force distribution ratio is proportional to the subject's applied force control ability.
According to the system for evaluating the upper limb movement function based on the force and position information, which is provided by the embodiment of the invention, the system interacts with a subject according to two basic forms of the movement track and the contact force, the movement track and the contact force are collected by using a sensor in the robot training process, the movement track and the contact force are analyzed, characteristic parameters such as movement accessibility, movement speed, movement accuracy and human-computer contact force are extracted as movement function parameters in the upper limb rehabilitation evaluation process, and then information such as movement execution capacity and movement control capacity of the subject is evaluated according to the movement function parameters, so that the pressure lacking in the number of existing rehabilitation doctors is reduced, the defect of subjectivity evaluation of the rehabilitation doctors is overcome, and the movement function of the patient can be evaluated more objectively and accurately through data collected by the sensor.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method for evaluating the motor function of upper limbs based on force and position information is characterized by comprising the following steps:
the upper limb rehabilitation robot is used for enabling the upper limb of a testee to carry out rehabilitation training of a linear track and a circular track, and acquiring linear motion track data, circular motion track data and contact force through a sensor of the upper limb rehabilitation robot;
extracting and processing actual linear trajectory data and target linear trajectory data in the linear motion trajectory data to obtain linear motion reachable capacity parameters;
extracting and processing actual circular trajectory data in the circular motion trajectory data to obtain circular motion reachable capacity parameters;
extracting and processing the motion trail and time information in the linear motion trail data and the circular motion trail data to obtain the average speed of the subject in motion;
carrying out average difference processing and standardization processing on the linear motion trajectory data and the circular motion trajectory data to obtain average trajectory deviation and a motion accurate evaluation value;
analyzing the contact force extraction force fluctuation range and the force distribution ratio in the direction vertical to the body;
evaluating the operation execution control capability of the subject according to the linear motion reachable capability parameter, the circular motion reachable capability parameter and the average speed, evaluating the motion accuracy control capability of the subject according to the average track deviation and the motion accuracy evaluation value, and evaluating the application force control capability of the subject according to the force fluctuation range and the force distribution ratio.
2. The method for estimating upper limb movement function based on force and position information according to claim 1, wherein the extracting and processing actual linear trajectory data and target linear trajectory data in the linear movement trajectory data to obtain linear movement reachable capacity parameters comprises:
extracting the actual linear track data and the target linear track data from the linear motion track data;
and determining a direction deviation angle between the actual motion track direction and the target track according to the actual linear track data and the target linear track data, and taking the deviation angle as the linear motion reachable capacity parameter.
3. The method for estimating upper limb movement function based on force and position information according to claim 1, wherein the extracting and processing actual movement track data in the circular movement track data to obtain circular movement reachable ability parameters comprises:
extracting the actual circular track data from the circular motion track data;
fitting an elliptic curve general equation according to the actual circular track data, and calculating the ratio of the minor half axis to the major half axis as the circular motion reachable capacity parameter.
4. The method for evaluating an upper limb movement function based on force and position information according to claim 1, wherein the averaging difference processing and the normalizing processing are sequentially performed on the linear movement trajectory data and the circular movement trajectory data to obtain an average trajectory deviation and a movement accuracy evaluation value, and the method comprises the following steps:
obtaining the track deviation of the linear track by using the target linear track data in the linear motion track data;
obtaining the track deviation of the circular track by using the circular motion track data, and carrying out standardization processing on the track deviation of the circular track to obtain the accurate motion evaluation value;
and calculating to obtain the average track deviation by using the track deviation of the linear track and the track deviation of the circular track.
5. The method of claim 1, wherein the average speed is proportional to the operation execution control capability when the linear motion reachability parameter is closer to 0 and the circular motion reachability parameter is closer to 1.
6. The method of claim 1, wherein the mean trajectory deviation is proportional to the motion accuracy assessment value, which is inversely proportional to the subject's motion accuracy control capability.
7. The method of claim 1, wherein the force fluctuation range is inversely proportional to the force application amount control capability of the subject, and the force distribution ratio is proportional to the force application amount control capability of the subject.
8. A system for assessing upper limb movement functions based on force, position information, comprising:
the upper limb rehabilitation robot comprises an acquisition module, a contact force acquisition module and a control module, wherein the acquisition module is used for enabling the upper limb of a testee to carry out rehabilitation training of a linear track and a circular track by utilizing the upper limb rehabilitation robot and acquiring linear motion track data, circular motion track data and contact force through a sensor of the upper limb rehabilitation robot;
the first processing module is used for extracting and processing actual linear track data and target linear track data in the linear motion track data to obtain linear motion reachable capacity parameters, extracting and processing actual circular track data in the circular motion track data to obtain circular motion reachable capacity parameters, extracting and processing motion track and time information in the linear motion track data and the circular motion track data, and obtaining the average speed of the subject in motion;
the second processing module is used for carrying out average difference processing and standardization processing on the linear motion trajectory data and the circular motion trajectory data to obtain average trajectory deviation and a motion accurate evaluation value;
the third processing module is used for analyzing the contact force extraction force fluctuation range and the force distribution ratio perpendicular to the body direction;
an evaluation motion execution control capability module for evaluating the operation execution control capability of the subject according to the linear motion reachable capability parameter, the circular motion reachable capability parameter and the average speed;
an assessment motion accuracy control capability module for assessing the motion accuracy control capability of the subject according to the mean trajectory deviation and the motion accuracy assessment value; and
an assessment exertion capacity control module for assessing exertion capacity control of the subject based on the force fluctuation range and the force distribution ratio.
9. The system for estimating upper limb movement function based on force, position information according to claim 8, wherein the average speed is proportional to the operation execution control capability when the linear-motion reachable capability parameter is closer to 0 and the circular-motion reachable capability parameter is closer to 1.
10. The system for assessing upper limb movement functions based on force, position information of claim 8, wherein said mean trajectory deviation is proportional to said motion accurate assessment value, said motion accurate assessment value is inversely proportional to said subject's motion accuracy control capability, said force fluctuation range is inversely proportional to said subject's applied force control capability, and said force distribution ratio is proportional to said subject's applied force control capability.
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| CN114403855A (en) * | 2021-12-31 | 2022-04-29 | 中山大学附属第一医院 | Paralyzed person upper limb motion function assessment method, system and computer readable storage medium |
| 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 |
| CN114712150A (en) * | 2021-01-06 | 2022-07-08 | 厦门威恩科技有限公司 | Multipoint upper limb static test method based on upper limb rehabilitation training robot |
| CN114712149A (en) * | 2021-01-06 | 2022-07-08 | 厦门威恩科技有限公司 | Single-point upper limb static test method based on upper limb rehabilitation training robot |
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