CN114367086A - Lower limb rehabilitation training game system - Google Patents

Lower limb rehabilitation training game system Download PDF

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Publication number
CN114367086A
CN114367086A CN202111676995.XA CN202111676995A CN114367086A CN 114367086 A CN114367086 A CN 114367086A CN 202111676995 A CN202111676995 A CN 202111676995A CN 114367086 A CN114367086 A CN 114367086A
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Prior art keywords
game
module
motion
patient
lower limb
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CN202111676995.XA
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Inventor
谢龙汉
曾嘉龙
叶丽青
邱华燊
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South China University of Technology SCUT
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South China University of Technology SCUT
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Priority to CN202111676995.XA priority Critical patent/CN114367086A/en
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    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
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    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a lower limb rehabilitation training game system which comprises a database module, a game element module, a game event module and a game difficulty dynamic adjustment method module. After the motion data acquisition and projection module acquires the posture information of the patient in the motion process, the posture information is interacted with the game element module, the game event module and the game difficulty dynamic adjustment method module to perform the rehabilitation training process, and the posture information is recorded in real time through the database module. According to the invention, the Kinect depth camera is adopted to collect the joint information and the motion posture of the patient, so that the motion information of the patient can be accurately and quickly returned to the game module, the training experience of the patient is increased, and the training effect is enhanced. By using the form of the game, the movement of the patient is reflected more truly, the interestingness of rehabilitation training is enhanced, the patient can be more involved in the training, and the rehabilitation effect is improved.

Description

Lower limb rehabilitation training game system
Technical Field
The invention belongs to the technical field of rehabilitation training, and particularly relates to a lower limb rehabilitation training game system.
Background
The number of hemiplegia patients caused by cerebrovascular diseases such as cerebral apoplexy is gradually increased in recent years, the rehabilitation training efficiency of patients with dyskinesia is low by utilizing the traditional method, and consumed manpower and material resources are huge, so that some lower limb rehabilitation robots and lower limb rehabilitation systems are gradually introduced in recent years to assist the training of the hemiplegia patients, the cost is greatly reduced while the rehabilitation effect is improved, but most lower limb rehabilitation equipment has poor man-machine interface interactivity (such as Chinese patent publication CN110013648A), so that the patients cannot take interesting training, the initiative is poor, the effect is not high, and the rehabilitation of the patients is not facilitated.
Disclosure of Invention
The invention aims to provide a game applied to a lower limb rehabilitation robot to enhance the interaction of a human-computer interface, improve the initiative of a hemiplegic patient in machine training and improve the rehabilitation effect.
In order to achieve the purpose, the game for enhancing the lower limb rehabilitation training effect is provided by the invention, the lower limb rehabilitation training game system is applied to a lower limb rehabilitation robot, and comprises a motion data acquisition and projection module, a database module, a game element module, a game event module and a game difficulty dynamic adjustment method module;
the motion data acquisition and projection module is used for acquiring lower limb motion data of a patient in the motion process by adopting a depth camera, projecting the posture information to the lower limb action of a character in a game, and interacting the acquired data with the game element module, the game event module and the game difficulty dynamic adjustment method module;
the database module is used for being combined with the motion data acquisition and projection module and recording data of the patient in the training process;
the game element module is used for being combined with the game event module to serve as a carrier for realizing game events;
the game event module is used for realizing game logic and bearing a rehabilitation game design concept of the lower limb rehabilitation training game system;
the game difficulty dynamic adjustment method module is used for evaluating according to the current game execution time of the game and the point data obtained by the user and dynamically adjusting the game difficulty.
Furthermore, the game element module comprises a game map automatic generation module, a game scene design element module and a game background music design module;
the game map automatic generation module is used for generating a natural scene or an urban scene, elements matched with the scene and a picture background map;
the game scene design element module is used for bearing natural scenery and humanistic scenery according with the age bracket of the hemiplegia patient population;
the game background music design module is used for bearing scene music of various different styles.
Further, the generation method of the map automatic generation module specifically comprises the following steps: and prefabricating a map scene block and map elements, and compiling a scene state machine script to uniformly manage automatic generation and recovery of the map block.
Furthermore, the game event module comprises a speed control module, a motion obstacle avoidance module, a random task module and an integral module,
the speed control module is used for controlling the travelling speed of the patient;
the motion obstacle avoidance module is used for avoiding obstacles which appear randomly;
the random task module is used for randomly generating reward and punishment events on a game road;
the integral module is used for generating an integral according to the training of the patient in the speed control module, the motion obstacle avoidance module and the random task module so as to evaluate the training effect of the patient in each training process.
Further, the speed control module is combined with the integration module, and the implementation method of the speed control module is as follows: the method comprises the steps of detecting the advancing speed of the knee joint of a patient by using a depth camera to express the advancing of a game role, judging whether the advancing speed parameter of a user is lower than a set threshold value, if so, controlling a game scene and sound effect change to prompt the patient to increase the speed, and otherwise, increasing the score in proportion.
Further, the motion obstacle avoidance module is combined with the integration module, and the implementation method of the motion obstacle avoidance module is as follows: randomly generating static or dynamic barrier elements corresponding to a map scene, detecting the change condition of a traveling speed parameter and the collision condition of a barrier and a game character, judging whether the barrier is successfully avoided, and if the volume collision of a model of the barrier and the barrier occurs before the barrier disappears in the game, judging that the barrier is failed to be avoided; if the character in the game does not collide with the obstacle all the time, the obstacle avoidance is judged to be successful, the integral is increased in proportion at the moment, otherwise, the integral is reduced in proportion, and the sound effect is changed into the sound effect related to the characteristics of the collision object.
Further, the stochastic task module is combined with the integration module, and the patient executes the event by accelerating the travel speed; the random task module implementation method comprises the following steps:
according to the difficulty coefficient of the current dynamic adjustment, a random task is triggered once every preset time;
if the time-limited rewarding task is triggered, elements existing in a scene in a time-limited mode are generated, a patient can successfully pick up the elements only by accelerating, and the successfully picked elements are regarded as completed tasks;
if the static obstacle crossing task is triggered, generating an element for preventing the character model in the game from moving forwards in the scene, and if the patient needs to accelerate, the game can be prevented from failing due to speed reduction, and the patient can successfully finish the task;
if the dynamic obstacle avoidance task is triggered, dynamically moving obstacle elements are generated in a scene, a patient needs to control the speed well to avoid the volume collision between the in-game object model and the obstacle elements, and if the patient successfully avoids the volume collision between the in-game object model and the obstacle element model, the task is finished.
Further, the implementation method of the game difficulty dynamic adjustment method module comprises the following steps:
step 1, projecting lower limb movement data of a patient user captured by a depth camera device to lower limb actions of characters in a game;
step 2, acquiring a motion speed parameter of the user according to the lower limb motion data of the user captured by the depth camera equipment, and evaluating the motion capability of the user by combining the point data of the current game state;
and 3, dynamically adjusting the game difficulty according to the exercise capacity evaluation data of the user in the step 2.
Further, in the step 1, the method for projecting the lower limb movement data of the user to the lower limb movement of the character in the game includes: the method comprises the steps of capturing the motion of the lower limbs of a user by using a depth camera, synchronizing the motion of the lower limbs of the user to a character model in a game, setting a character moving speed parameter in the game according to the obtained translation speed of the knee joint of the character model in the game, and monitoring the motion state data of the user in real time.
Further, in the step 2, the motion speed parameters of the user comprise a lower limb motion step frequency captured by the depth camera and a game character model knee joint translation speed; the method for assessing the exercise capacity of a patient-user is as follows: and carrying out visual analysis on the motion time and motion speed parameter data, carrying out motion stability evaluation on a speed curve, and carrying out motion flexibility and lower limb control capability evaluation on the completion rate of a special game event.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the invention, the motion data acquisition and projection module taking the Kinect depth camera as a main body is adopted to acquire the joint information and the motion posture of the patient, so that the motion information of the patient can be accurately and quickly returned to the game element module and the game event module, the training experience of the patient is increased, and the training effect is enhanced. By utilizing the game system, the movement of the patient can be reflected more truly, the interestingness of rehabilitation training is enhanced, the patient can be put into more participation in training, and the rehabilitation effect is improved.
Drawings
Fig. 1 is a schematic structural diagram of a lower limb rehabilitation training game system according to an embodiment of the present invention.
Fig. 2 is a schematic view of a game interface of a patient during a training process according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of game logic of a patient during a training process according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be made clear and fully described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments, not all embodiments, of the present invention. The following detailed description is, therefore, to be construed as merely illustrative, and not limitative of the remainder of the disclosure in any way whatsoever.
Referring to fig. 1, the lower limb rehabilitation training game system applied to the lower limb rehabilitation robot provided by the invention includes a motion data acquisition and projection module, a game element module, a game event module and a game difficulty dynamic adjustment method module, wherein:
the motion data acquisition and projection module is used for acquiring lower limb motion data of a patient in the motion process and projecting the posture information to the lower limb action of a character in the game;
the database module is used for being combined with the motion data acquisition and projection module and recording data of the patient in the training process;
the game element module is combined with the game event module and used as a carrier for realizing game events;
the game event module is used for realizing game logic and bearing the rehabilitation game design idea of the lower limb rehabilitation training game system;
and the game difficulty dynamic adjusting method module is used for dynamically adjusting the game difficulty of the game event module in real time.
In some embodiments of the invention, the motion data acquisition and projection module is used for acquiring the three-dimensional position of the joint of the lower limb of the patient in the training process. The angles of all joints of the patient in the advancing process are obtained by utilizing the mathematical relationship subsequently, and then joints corresponding to character models in the game can rotate at the same angle by utilizing the script file so as to realize synchronous motion.
In some of the embodiments of the present invention, the database module is used to store patient outcome data after a game.
In some embodiments of the present invention, the game element module is a carrier for implementing game events, and includes a game scene design element module, a game map automatic generation module, and a game background music design module.
The game scene design element module is used for bearing natural scenery and humanistic scenery according with the age group of the hemiplegia patient population. The game map automatic generation module is used for generating a natural scene or an urban scene, elements matched with the scene and a picture background map; the game background music design module is used for bearing a plurality of background music with different music styles.
In some embodiments of the present invention, the method for generating the game map automatic generation module specifically includes: the method comprises the steps of prefabricating map scene blocks and map elements, compiling scene state machine scripts to uniformly manage automatic generation and recovery of the map blocks, and enabling the map blocks to be composed of randomly selected scenes and randomly distributed map elements in the scenes. When the game role of the patient walks to a certain fixed area, an event set in advance in the scene is triggered, the scene state machine script can recover the scene that the patient walks, and randomly selects the scene owned by the prefabricated body to be generated in front of the patient, so that the circulation of the scene is realized.
In some embodiments of the present invention, the game background music design module includes three scene music, namely, sunlight and active relaxing background music which are always played when the hemiplegic patient walks normally, thunder sound effect which is played timely when the hemiplegic patient does not walk actively, i.e. walking speed is slowed, and event sound effect which is triggered when a specific game event is triggered in the hemiplegic patient game.
In some embodiments of the invention, the game event module, in combination with the game element module, includes a speed control module, a motion obstacle avoidance module, a random task module, and a tally module.
The speed control module is used for controlling the travelling speed of the patient;
the motion obstacle avoidance module is used for avoiding obstacles which appear randomly;
the random task module is used for randomly generating reward and punishment events on a game road;
the integral module is used for generating an integral according to the training of the patient in the speed control module, the motion obstacle avoidance module and the random task module so as to evaluate the training effect of the patient in each training process.
In some embodiments of the present invention, the speed control module is combined with the integration module, and the speed control module is implemented by: the method comprises the steps of detecting the advancing speed of the knee joint of a patient by using a depth camera to express the advancing of a game role, judging whether the advancing speed parameter of a user is lower than a set threshold value, if so, controlling a game scene and sound effect change to prompt the patient to increase the speed, and otherwise, increasing the score in proportion.
In some embodiments of the present invention, the motion obstacle avoidance module is combined with the integration module, and the implementation method of the motion obstacle avoidance module is as follows: randomly generating static or dynamic barrier elements corresponding to a map scene, detecting the change condition of a traveling speed parameter and the collision condition of a barrier and a game character, judging whether the barrier is successfully avoided, and if the volume collision of a model of the barrier and the barrier occurs before the barrier disappears in the game, judging that the barrier is failed to be avoided; if the character in the game does not collide with the obstacle all the time, the obstacle avoidance is judged to be successful, the integral is increased in proportion at the moment, otherwise, the integral is reduced in proportion, and the sound effect is changed into the sound effect related to the characteristics of the collision object.
In some embodiments of the present invention, the reward and punishment events occurring in the random task module, such as random occurrence of reward items, occurrence of obstacle avoidance events, etc., are required to be completed by the patient by increasing or decreasing the traveling speed; the random task module implementation method comprises the following steps:
step 1, triggering a random task once at preset time intervals according to the current dynamic adjustment difficulty coefficient; wherein the higher the difficulty factor, the higher the frequency generated by the random task.
Step 2, if a time-limited reward task is triggered, a reward element existing in the prefabricated body is instantiated in front of the path where the patient travels, the time which can exist in the instance is set according to different current difficulties, the patient needs to accelerate to collide with the element in volume, an event is triggered, the element disappears, the element is regarded as successfully picked up, the reward task is completed, and otherwise, the element automatically disappears, and the task is completed;
step 3, if a static obstacle crossing task is triggered, generating an element for preventing the character model in the game from moving forwards in the scene, and if the patient needs to accelerate the moving speed, the condition that the game fails due to speed reduction can be avoided, and the patient successfully finishes the task;
step 4, if a dynamic obstacle avoidance task is triggered, dynamically moving obstacle elements are generated in a scene, the speed of the generated elements is the current traveling speed of a patient at the current moment, the patient needs to control the speed well to avoid the fact that a human model in a game and the obstacle elements are in volume collision, and if the human model in the game and the obstacle elements are in volume collision before the obstacle disappears, obstacle avoidance failure is judged; and if the character in the game does not collide with the obstacle all the time, judging that obstacle avoidance is successful.
In some embodiments of the invention, the scoring module is configured to evaluate the effectiveness of the patient's training during each training session. When combined with a random task module, completing a task causes the integral to increase proportionally, otherwise it decreases proportionally.
In some embodiments of the present invention, the implementation method of the game difficulty dynamic adjustment method module includes the following steps:
step 1, projecting lower limb movement data of a patient user captured by a depth camera device to the lower limb action of a character in a game;
step 2, acquiring a motion speed parameter of the user according to the lower limb motion data of the user captured by the depth camera equipment, and evaluating the motion capability of the user by combining the point data of the current game state;
and 3, dynamically adjusting the whole game difficulty of the game event module according to the athletic ability evaluation data of the user.
In the step 1, the implementation method for projecting the lower limb movement data of the user to the lower limb action of the character in the game comprises the following steps: the method comprises the steps of capturing the motion of the lower limbs of a user by using a depth camera, synchronizing the motion of the lower limbs of the user to a character model in a game, setting a character moving speed parameter in the game according to the obtained translation speed of the knee joint of the character model in the game, and monitoring the motion state data of the user in real time.
In the step 2, the motion speed parameters of the user comprise lower limb motion step frequency and the translation speed of the knee joint of the game character model, which are captured by the depth camera; the method for evaluating the exercise capacity of the user comprises the following steps: and carrying out visual analysis on the motion time and motion speed parameter data, carrying out motion stability evaluation on a speed curve, and carrying out motion flexibility and lower limb control capability evaluation on the completion rate of the rehabilitation game.
As shown in fig. 2, the embodiment of the present invention provides a game interface observed by a patient during a training process, wherein the lower limbs of the game character can reflect the lower limb movement information of the patient during the training process in real time through the movement data acquisition and projection module, and the obtained real-time velocity of the knee joint can be used to replace the new velocity in the game character.
As shown in FIG. 3, the present invention provides game logic during training of a user patient after entry into a game. The training time period is selected after the game is started, different training time periods can be selected for patients with different degrees of recovery, and then whether the patient starts to walk or not is judged by judging whether the position of the joint is changed or not through the depth camera, the scores of the patients can be accumulated during the walking process, and special events can be generated on the way. In addition, the road behind the patient can slowly fall off in the advancing process, when the square where the patient is located falls off or the training duration is over, the game is over, and the patient data in the game is recorded through the database module.
The lower limb rehabilitation training game system provided by the invention enhances the interactivity with patients, improves the initiative of hemiplegic patients in machine training, and improves the rehabilitation effect. Adopt the degree of depth camera to carry out the collection of low limbs data, need not the user and dress any equipment, have higher portability, simultaneously with inertial sensor catch human motion's precision gap not big. Compared with a common camera, the depth camera is less influenced by illumination and has higher stability in the process of capturing the motion of the human body.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.

Claims (10)

1. A lower limb rehabilitation training game system is characterized in that the lower limb rehabilitation training game system is applied to a lower limb rehabilitation robot and comprises a motion data acquisition and projection module, a database module, a game element module, a game event module and a game difficulty dynamic adjustment method module;
the motion data acquisition and projection module is used for acquiring lower limb motion data of a patient in the motion process by adopting a depth camera, projecting the posture information to the lower limb action of a character in a game, and interacting the acquired data with the game element module, the game event module and the game difficulty dynamic adjustment method module;
the database module is used for being combined with the motion data acquisition and projection module and recording data of the patient in the training process;
the game element module is used for being combined with the game event module to serve as a carrier for realizing game events;
the game event module is used for realizing game logic and bearing a rehabilitation game design concept of the lower limb rehabilitation training game system;
the game difficulty dynamic adjustment method module is used for evaluating according to the current game execution time of the game and the point data obtained by the user and dynamically adjusting the game difficulty.
2. The lower limb rehabilitation training game system of claim 1, wherein the game element module comprises a game map automatic generation module, a game scene design element module and a game background music design module;
the game map automatic generation module is used for generating a natural scene or an urban scene, elements matched with the scene and a picture background map;
the game scene design element module is used for bearing natural scenery and humanistic scenery according with the age bracket of the hemiplegia patient population;
the game background music design module is used for bearing scene music of various different styles.
3. The lower limb rehabilitation training game system according to claim 2, wherein the map automatic generation module is specifically generated by: and prefabricating a map scene block and map elements, and compiling a scene state machine script to uniformly manage automatic generation and recovery of the map block.
4. The lower extremity rehabilitation training game system of claim 1, wherein; the game event module comprises a speed control module, a motion obstacle avoidance module, a random task module and an integral module,
the speed control module is used for controlling the travelling speed of the patient;
the motion obstacle avoidance module is used for avoiding obstacles which appear randomly;
the random task module is used for randomly generating reward and punishment events on a game road;
the integral module is used for generating an integral according to the training of the patient in the speed control module, the motion obstacle avoidance module and the random task module so as to evaluate the training effect of the patient in each training process.
5. The lower limb rehabilitation training game system of claim 4, wherein the speed control module is combined with the integration module, and the speed control module is realized by the following method: the method comprises the steps of detecting the advancing speed of the knee joint of a patient by using a depth camera to express the advancing of a game role, judging whether the advancing speed parameter of a user is lower than a set threshold value, if so, controlling a game scene and sound effect change to prompt the patient to increase the speed, and otherwise, increasing the score in proportion.
6. The lower limb rehabilitation training game system of claim 4, wherein the motion obstacle avoidance module is combined with the integration module, and the implementation method of the motion obstacle avoidance module is as follows: randomly generating static or dynamic barrier elements corresponding to a map scene, detecting the change condition of a traveling speed parameter and the collision condition of a barrier and a game character, judging whether the barrier is successfully avoided, and if the volume collision of a model of the barrier and the barrier occurs before the barrier disappears in the game, judging that the barrier is failed to be avoided; if the character in the game does not collide with the obstacle all the time, the obstacle avoidance is judged to be successful, the integral is increased in proportion at the moment, otherwise, the integral is reduced in proportion, and the sound effect is changed into the sound effect related to the characteristics of the collision object.
7. The lower extremity rehabilitation training game system of claim 4, wherein the random task module is combined with the score module, and the patient executes the event by increasing the speed of travel; the random task module implementation method comprises the following steps:
according to the difficulty coefficient of the current dynamic adjustment, a random task is triggered once every preset time;
if the time-limited rewarding task is triggered, elements existing in a scene in a time-limited mode are generated, a patient can successfully pick up the elements only by accelerating, and the successfully picked elements are regarded as completed tasks;
if the static obstacle crossing task is triggered, generating an element for preventing the character model in the game from moving forwards in the scene, and if the patient needs to accelerate, the game can be prevented from failing due to speed reduction, and the patient can successfully finish the task;
if the dynamic obstacle avoidance task is triggered, dynamically moving obstacle elements are generated in a scene, a patient needs to control the speed well to avoid the volume collision between the in-game object model and the obstacle elements, and if the patient successfully avoids the volume collision between the in-game object model and the obstacle element model, the task is finished.
8. The lower limb rehabilitation training game system according to any one of claims 1-7, wherein the implementation method of the game difficulty dynamic adjustment method module comprises the following steps:
step 1, projecting lower limb movement data of a patient user captured by a depth camera device to lower limb actions of characters in a game;
step 2, acquiring a motion speed parameter of the user according to the lower limb motion data of the user captured by the depth camera equipment, and evaluating the motion capability of the user by combining the point data of the current game state;
and 3, dynamically adjusting the game difficulty according to the exercise capacity evaluation data of the user in the step 2.
9. The lower limb rehabilitation training game system of claim 8, wherein in the step 1, the lower limb action of projecting the lower limb movement data of the user to the character in the game is realized by the following method: the method comprises the steps of capturing the motion of the lower limbs of a user by using a depth camera, synchronizing the motion of the lower limbs of the user to a character model in a game, setting a character moving speed parameter in the game according to the obtained translation speed of the knee joint of the character model in the game, and monitoring the motion state data of the user in real time.
10. The lower limb rehabilitation training game system of claim 8, wherein in the step 2, the motion speed parameters of the user comprise a lower limb motion step frequency captured by the depth camera and a game character model knee joint translation speed; the method for assessing the exercise capacity of a patient-user is as follows: and carrying out visual analysis on the motion time and motion speed parameter data, carrying out motion stability evaluation on a speed curve, and carrying out motion flexibility and lower limb control capability evaluation on the completion rate of a special game event.
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