CN111374865A - Wrist self-adaptive rehabilitation training method and device - Google Patents

Wrist self-adaptive rehabilitation training method and device Download PDF

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Publication number
CN111374865A
CN111374865A CN201811633300.8A CN201811633300A CN111374865A CN 111374865 A CN111374865 A CN 111374865A CN 201811633300 A CN201811633300 A CN 201811633300A CN 111374865 A CN111374865 A CN 111374865A
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patient
training
time
motion
real
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CN111374865B (en
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张佳楫
左国坤
王嘉津
史斌君
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Ningbo Institute of Material Technology and Engineering of CAS
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Ningbo Institute of Material Technology and Engineering of CAS
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

Abstract

The application relates to a wrist self-adaptive rehabilitation training method and device. The method comprises the following steps: setting rehabilitation training contents, wherein the training contents comprise training motion tracks; acquiring real-time motion state information of the patient along the training motion trail; determining the completion degree of the patient on the training content according to the real-time motion state information; and adjusting the training content according to the completion degree. By adopting the method, the completion degree of the training content of the patient can be judged according to the real-time motion state information of the wrist of the patient in the wrist training process, the assisting force is provided as required to help the patient to complete the training content, the patient is assisted to complete the rehabilitation training better, and the training effect is improved.

Description

Wrist self-adaptive rehabilitation training method and device
Technical Field
The application relates to the technical field of medical instruments, in particular to a wrist self-adaptive rehabilitation training method and device.
Background
In China, the number of people with brain injuries such as brain trauma, cerebral palsy and the like and disability caused by accidents and environmental pollution is considerable, and particularly, with the coming of aging society, cerebral apoplexy becomes a main factor of movement dysfunction and hemiplegia. With increasing levels of medical care, the mortality rate from cerebral stroke is gradually decreasing, but of stroke survivors, approximately 80% -90% of patients suffer from hand motor function deficits, loss of voluntary living and motor abilities. The normal work and life of the patient are seriously affected, and the nursing is time-consuming and labor-consuming, and burdens the society and families.
Medical theory and practice prove that the limb movement function of a hemiplegic patient caused by stroke can be recovered to a certain degree through a large amount of repetitive function training. In the existing wrist rehabilitation training device, the CPM system is mainly used for the hand, but the CPM system is used as a continuous passive system for the hand, only has a passive training mode and does not have an active training function, so that the wrist movement intention and the movement capability of a patient cannot be accurately identified, and the auxiliary force cannot be timely provided for the patient according to the requirement.
Disclosure of Invention
In view of the above, there is a need to provide a wrist adaptive rehabilitation training method and device that accurately identifies the wrist movement pattern and movement ability of a patient and provides assistance to the patient as required.
A wrist adaptive rehabilitation training method, the method comprising:
setting rehabilitation training contents, wherein the training contents comprise training motion tracks;
acquiring real-time motion state information of the patient along the training motion trail;
determining the completion degree of the patient on the training content according to the real-time motion state information;
and adjusting the training content according to the completion degree.
In one embodiment, the motion state information includes a motion speed, a motion time and a motion position of the patient, and the training motion track includes a start segment, a stop segment and a motion segment between the start segment and the stop segment.
In one embodiment, the method further comprises the following steps:
and determining the starting completion degree of the patient according to the motion state information of the patient in the starting section.
In one embodiment, the method further comprises the following steps:
and acquiring the movement time of the patient in the starting section, comparing the movement time of the starting section with a preset time threshold, and determining the completion degree of the patient in the starting section according to the comparison result.
In one embodiment, the method further comprises the following steps:
and determining the motion completion degree of the patient according to the motion state information of the patient in the motion segment.
In one embodiment, the method further comprises the following steps:
and acquiring a first real-time movement speed and a first real-time movement position of the patient in the movement section, comparing the first real-time movement speed of the movement section with the position of the corresponding time of a preset first reference track, and determining the completeness of the patient in the movement section according to the comparison result.
In one embodiment, the method further comprises the following steps:
and determining the stopping completion degree of the patient according to the motion state information of the patient in the stopping section.
In one embodiment, the method further comprises the following steps:
and acquiring a second real-time movement speed and a second real-time movement position of the patient in the stopping section, comparing the second real-time movement position with the position of the preset first reference track corresponding to time according to the second real-time movement speed of the stopping section, and determining the completeness of the patient in the stopping section according to the comparison result.
In one embodiment, the method further comprises:
adjusting or keeping the training difficulty according to the completion degree of the multiple times of training of the patient; or
And adjusting or maintaining the difficulty of the training content according to the condition of the completion degree.
A wrist adaptive rehabilitation training device, the device comprising:
the motion state acquisition module is used for acquiring real-time motion state information of the patient along the training motion track;
the processing module is connected with the motion state acquisition module and used for determining the completion degree of the patient on the training content according to the real-time motion state information; adjusting rehabilitation training content according to the completion degree;
the execution module is connected with the processing module and used for executing corresponding rehabilitation training contents according to the instructions of the processing module.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
setting rehabilitation training contents, wherein the training contents comprise training motion tracks;
acquiring real-time motion state information of the patient along the training motion trail;
determining the completion degree of the patient on the training content according to the real-time motion state information;
and adjusting the training content according to the completion degree.
A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, performs the steps of:
setting rehabilitation training contents, wherein the training contents comprise training motion tracks;
acquiring real-time motion state information of the patient along the training motion trail;
determining the completion degree of the patient on the training content according to the real-time motion state information;
and adjusting the training content according to the completion degree.
According to the wrist self-adaptive rehabilitation training method and device, in the wrist training process, the completion degree of the training content of the patient can be judged according to the real-time motion state information of the wrist of the patient, the assistance force is provided as required to help the patient to complete the training content, the patient is assisted to complete the rehabilitation training better, and the training effect is improved.
Drawings
FIG. 1 is a schematic flow chart of a wrist adaptive rehabilitation training method according to an embodiment;
FIG. 2 is a schematic flowchart of the wrist adaptive rehabilitation training step S106 in FIG. 1;
FIG. 3 is a block diagram of an embodiment of a wrist adaptive rehabilitation training device;
FIG. 4 is a block diagram of a processing module of the wrist adaptive rehabilitation training device of FIG. 3;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a wrist adaptive rehabilitation training method, comprising the steps of:
step S102, rehabilitation training content is set, and the training content comprises a training motion track.
Wherein the training motion trajectory comprises a start segment, a stop segment, and a motion segment between the start segment and the stop segment.
Specifically, the training content is also preset with a first reference track for comparing with the training standard of the patient. The first reference trajectory is a reference value of the movement distance of the wrist of the patient in unit time. The standard is the lowest standard of the movement distance of the wrist in unit time when the patient exercises. In this embodiment, the calculation formula of the first reference trajectory is:
Figure BDA0001929440370000041
wherein, Xd: a first reference trajectory displacement; t: a reference time; la: the distance from the starting point of the starting section to the starting point of the stopping section; t is ta：laCorresponding movement duration. The reference time can be adjusted according to rehabilitation training content.
And step S104, acquiring real-time motion state information of the patient along the training motion track.
Wherein the motion state information includes a motion speed, a motion time, and a motion position of the patient.
And S106, determining the completion degree of the patient to the training content according to the real-time motion state information.
Wherein, the completion degree comprises the starting completion degree, the movement completion degree and the stopping completion degree corresponding to the starting section, the stopping section and the movement section.
The steps further include: determining the starting completion degree of the patient according to the motion state information of the patient in the starting section; determining the motion completion degree of the patient according to the motion state information of the patient in the motion segment; and determining the stopping completion degree of the patient according to the motion state information of the patient in the stopping section.
In this embodiment, the starting completion degree, the movement completion degree, and the stopping completion degree are sequentially determined, and if the starting completion degree does not reach the standard, the movement completion degree is determined; and if the motion completion degree does not reach the standard, stopping determining the stop completion degree. It is to be appreciated that in other embodiments, a single determination or multiple determinations of the completion of the start, the completion of the movement, and the completion of the stop of the patient may be made.
And S108, adjusting the training content according to the completion degree.
Specifically, if the completion degree does not reach the standard, an auxiliary reference track is generated, and auxiliary force is provided to help the patient to complete the training content according to the auxiliary reference track.
Wherein the auxiliary reference track includes a second reference track and a third reference track. In this embodiment, the calculation formula of the auxiliary reference trajectory is:
Figure BDA0001929440370000051
wherein, Xe: an auxiliary reference track; lm: current position to stop segmentThe distance of the starting point; t is tm：lmThe corresponding movement time. t is tm、lm、ta、laThe relationship between each other is tm/lm＝ta/la。
And if the motion completion degree does not reach the standard, judging whether the first real-time motion speed is zero or not again. If the first real-time movement speed is zero, acquiring a second current position, generating a third reference track according to the second current position, and providing auxiliary force to help the patient to finish training according to the third reference track; and if the first real-time movement speed is not zero, providing auxiliary force to help the patient to finish training according to a preset first reference track.
And if the stopping completion degree does not reach the standard, providing auxiliary force to help the patient to complete the training content.
The method further comprises the following steps: adjusting or keeping the training difficulty according to the completion degree of the multiple times of training of the patient; or adjusting or maintaining the difficulty of the training content according to the condition of the completion degree.
Specifically, the difficulty of training is adjusted or maintained according to the achievement rate of the completion degree of multiple times of training of the patient. In this embodiment, if the standard reaching rate is below 50%, the training difficulty is reduced; if the standard reaching rate is 50% -90%, keeping the training difficulty; and if the standard reaching rate is more than 90%, increasing the training difficulty. Or adjusting or maintaining the difficulty of the training content according to the state of the completion degree of the single training.
In one embodiment, as shown in fig. 2, the determining the completion degree of the training content by the patient according to the real-time motion state information comprises the following steps:
and step S202, determining the starting completion degree of the patient according to the motion state information of the patient in the starting section.
Specifically, the movement duration of the patient in the starting section is obtained, the movement duration of the starting section is compared with a preset time threshold, and the completion degree of the patient in the starting section is determined according to the comparison result. If the movement time of the starting section is less than or equal to the preset time threshold, the completion degree of the patient in the starting section reaches the standard, and if the movement time of the starting section is greater than the preset time threshold, the completion degree of the patient in the starting section does not reach the standard. In this embodiment, if the completion of the patient in the starting segment reaches the standard, the patient trains according to the training content of the exercise segment.
And step S204, determining the motion completion degree of the patient according to the motion state information of the patient in the motion segment.
Specifically, a first real-time movement speed and a first real-time movement position of the patient in the movement section are obtained, the first real-time movement speed of the movement section is compared with the position of the first real-time movement position and the corresponding time of a preset first reference track, and the completion degree of the patient in the movement section is determined according to the comparison result. If the first real-time movement speed is not zero and the first real-time movement position is greater than or equal to the position of the corresponding time of the first reference track, determining that the movement completion degree reaches the standard; and if the first real-time motion speed is zero and/or the first real-time motion position is smaller than the position of the corresponding time of the first reference track, determining that the motion completion degree does not reach the standard. In this embodiment, if the completion of the patient in the exercise segment reaches the standard, the patient trains according to the training content of the stop segment.
And step S206, determining the stopping completion degree of the patient according to the motion state information of the patient in the stopping section.
Specifically, a second real-time movement speed and a second real-time movement position of the patient in the stopping section are obtained, the second real-time movement speed of the stopping section is compared with the position of the second real-time movement position corresponding to the preset first reference track, and the completeness of the patient in the stopping section is determined according to the comparison result. If the second real-time movement speed is zero and the second real-time movement position is less than or equal to the position of the time corresponding to the first reference track, determining that the stopping completion degree reaches the standard; and if the second real-time motion speed is not zero and/or the second real-time motion position is larger than the position of the time corresponding to the first reference track, determining that the completion degree does not reach the standard.
The steps further include:
judging whether the patient exceeds the training motion trail or not, and if the patient exceeds the training motion trail, providing correction force to help the patient to return to the stopping section; if the patient is within the training motion profile, no correction force is provided.
Specifically, when the patient is in a motion state and cannot stop, the patient is helped to return to the training motion trail after exceeding the training motion trail. In this embodiment, the patient is assisted in returning to the stop segment. It will be appreciated that the patient may also be assisted in returning to the start segment or the motion segment.
In the wrist self-adaptive rehabilitation training method, in the wrist training process, the completion degree of the training content of the patient can be judged according to the real-time motion state information of the wrist of the patient, the assisting power is provided as required to help the patient to complete the training content, the patient is assisted to complete the rehabilitation training better, and the training effect is improved. After a patient is trained for a certain number of times, the exercise ability of the patient can be evaluated according to the comprehensive performance, and the training difficulty can be correspondingly adjusted in the next round of training.
It should be understood that although the various steps in the flow charts of fig. 1-2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in a strict order unless explicitly stated herein, and may be performed in other orders. Moreover, at least some of the steps in fig. 1-2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in FIGS. 3-4, there is provided a wrist adaptive rehabilitation training device comprising: a motion state acquisition module 310, a processing module 320, and an execution module 330, wherein:
the motion state acquisition module 310 is configured to acquire real-time motion state information of the patient along a training motion trajectory;
the processing module 320 is connected to the motion state acquiring module 310, and configured to determine the completion degree of the training content for the patient according to the real-time motion state information; adjusting rehabilitation training content according to the completion degree;
the executing module 330 is connected to the processing module 320, and is configured to execute corresponding rehabilitation training content according to the instruction of the processing module 320. The rehabilitation training content comprises the training of the functions of back stretching, palm bending, ulnar deviation, radial deviation, forearm pronation and forearm supination of the wrist of the patient.
The processing module 320 includes: a start judgment unit 321, a motion judgment unit 322, a stop judgment unit 323, and a difficulty adjustment unit 324.
The starting judging unit 321 is configured to judge a starting completion degree according to the starting movement time and the starting movement position.
The motion determining unit 322 is configured to determine a motion completion degree according to the first real-time motion speed and the first real-time motion position.
The stop determining unit 323 is configured to determine a stop completion degree according to the second real-time moving speed and the second real-time moving position.
The difficulty adjusting unit 324 is configured to adjust or maintain the training difficulty according to the completion degree of the training content for multiple times.
For specific limitations of the wrist adaptive rehabilitation training device, reference may be made to the above limitations of the wrist adaptive rehabilitation training method, which are not described herein again. The modules in the wrist adaptive rehabilitation training device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, the internal structure of which may be as shown in FIG. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run in the non-volatile storage medium. The database of the computer device is used for storing training content data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a wrist adaptive rehabilitation training method.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
setting rehabilitation training contents, wherein the training contents comprise training motion tracks;
acquiring real-time motion state information of the patient along the training motion trail;
determining the completion degree of the patient on the training content according to the real-time motion state information;
and adjusting the training content according to the completion degree.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
the motion state information comprises the motion speed, the motion time and the motion position of the patient, and the training motion track comprises a starting section, a stopping section and a motion section positioned between the starting section and the stopping section.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and determining the starting completion degree of the patient according to the motion state information of the patient in the starting section.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and acquiring the movement time of the patient in the starting section, comparing the movement time of the starting section with a preset time threshold, and determining the completion degree of the patient in the starting section according to the comparison result.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and determining the motion completion degree of the patient according to the motion state information of the patient in the motion segment.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and acquiring a first real-time movement speed and a first real-time movement position of the patient in the movement section, comparing the first real-time movement speed of the movement section with the position of the corresponding time of a preset first reference track, and determining the completeness of the patient in the movement section according to the comparison result.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and determining the stopping completion degree of the patient according to the motion state information of the patient in the stopping section.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and acquiring a second real-time movement speed and a second real-time movement position of the patient in the stopping section, comparing the second real-time movement position with the position of the preset first reference track corresponding to time according to the second real-time movement speed of the stopping section, and determining the completeness of the patient in the stopping section according to the comparison result.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
adjusting or keeping the training difficulty according to the completion degree of the multiple times of training of the patient; or
And adjusting or maintaining the difficulty of the training content according to the condition of the completion degree.
In one embodiment, a computer-readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:
setting rehabilitation training contents, wherein the training contents comprise training motion tracks;
acquiring real-time motion state information of the patient along the training motion trail;
determining the completion degree of the patient on the training content according to the real-time motion state information;
and adjusting the training content according to the completion degree.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the motion state information comprises the motion speed, the motion time and the motion position of the patient, and the training motion track comprises a starting section, a stopping section and a motion section positioned between the starting section and the stopping section.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining the starting completion degree of the patient according to the motion state information of the patient in the starting section.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and acquiring the movement time of the patient in the starting section, comparing the movement time of the starting section with a preset time threshold, and determining the completion degree of the patient in the starting section according to the comparison result.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining the motion completion degree of the patient according to the motion state information of the patient in the motion segment.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and acquiring a first real-time movement speed and a first real-time movement position of the patient in the movement section, comparing the first real-time movement speed of the movement section with the position of the corresponding time of a preset first reference track, and determining the completeness of the patient in the movement section according to the comparison result.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining the stopping completion degree of the patient according to the motion state information of the patient in the stopping section.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and acquiring a second real-time movement speed and a second real-time movement position of the patient in the stopping section, comparing the second real-time movement position with the position of the preset first reference track corresponding to time according to the second real-time movement speed of the stopping section, and determining the completeness of the patient in the stopping section according to the comparison result.
In one embodiment, the computer program when executed by the processor further performs the steps of:
adjusting or keeping the training difficulty according to the completion degree of the multiple times of training of the patient; or
And adjusting or maintaining the difficulty of the training content according to the condition of the completion degree.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims (10)

1. A wrist adaptive rehabilitation training method, characterized in that the method comprises:
setting rehabilitation training contents, wherein the training contents comprise training motion tracks;
acquiring real-time motion state information of the patient along the training motion trail;
determining the completion degree of the patient on the training content according to the real-time motion state information;
and adjusting the training content according to the completion degree.
2. The method of claim 1, wherein the motion state information comprises a patient's motion speed, motion time, and motion location, and the training motion profile comprises a start segment, a stop segment, and a motion segment between the start segment and the stop segment.
3. The method of claim 2, further comprising:
and determining the starting completion degree of the patient according to the motion state information of the patient in the starting section.
4. The method of claim 3, further comprising:
and acquiring the movement time length of the patient in the starting section, comparing the movement time length of the starting section with a preset time threshold, and determining the completion degree of the patient in the starting section according to the comparison result.
5. The method of claim 2, further comprising:
and determining the motion completion degree of the patient according to the motion state information of the patient in the motion segment.
6. The method of claim 5, further comprising:
the method comprises the steps of obtaining a first real-time movement speed and a first real-time movement position of a patient in a movement section, comparing the first real-time movement speed of the movement section with the position of a preset first reference track corresponding time, and determining the completeness of the patient in the movement section according to a comparison result.
7. The method of claim 2, further comprising:
and determining the stopping completion degree of the patient according to the motion state information of the patient in the stopping section.
8. The method of claim 7, further comprising:
and acquiring a second real-time movement speed and a second real-time movement position of the patient in the stopping section, comparing the second real-time movement position with the position of the preset first reference track corresponding to time according to the second real-time movement speed of the stopping section, and determining the completeness of the patient in the stopping section according to the comparison result.
9. The method of claim 1, further comprising:
adjusting or keeping the training difficulty according to the completion degree of the multiple times of training of the patient; or
And adjusting or maintaining the difficulty of the training content according to the condition of the completion degree.
10. A wrist adaptive rehabilitation training device, characterized in that the device comprises:
the motion state acquisition module is used for acquiring real-time motion state information of the patient along the training motion track;
the processing module is connected with the motion state acquisition module and used for determining the completion degree of the patient on the training content according to the real-time motion state information; adjusting rehabilitation training content according to the completion degree;
the execution module is connected with the processing module and used for executing corresponding rehabilitation training contents according to the instructions of the processing module.
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