CN114470635B - Rehabilitation training system and method based on active feedback - Google Patents
Rehabilitation training system and method based on active feedback Download PDFInfo
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- CN114470635B CN114470635B CN202210165125.4A CN202210165125A CN114470635B CN 114470635 B CN114470635 B CN 114470635B CN 202210165125 A CN202210165125 A CN 202210165125A CN 114470635 B CN114470635 B CN 114470635B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
- A63B26/003—Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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Abstract
The invention discloses a rehabilitation training system and a method based on active feedback, wherein the rehabilitation training system comprises a walking ability training module, a nerve fatigue characteristic quantity acquisition module, a limb fatigue characteristic quantity acquisition module and an information processing module, wherein the nerve fatigue characteristic quantity acquisition module and the limb fatigue characteristic quantity acquisition module are connected with the walking ability training module and are respectively used for acquiring a brain electromyographic signal, an electromyographic signal of relevant muscles and gait information of a patient in the process of using the walking ability training module. The rehabilitation training system monitors the motion process of a user in real time based on the brain electromyographic signals, the electromyographic signals of relevant muscles and gait information in the motion process of the patient, judges the brain fatigue degree and the muscle fatigue degree of the user according to various evaluation index data collected by the system, controls the motion parameters according to the judgment result in a feedback mode, and can avoid the situations of motor injury and motor spasm of the user.
Description
Technical Field
The invention relates to the field of rehabilitation instruments, in particular to a rehabilitation training system and method based on active feedback.
Background
Stroke is also known as stroke and cerebrovascular accident. The cerebral vascular disease is an acute cerebrovascular disease, is a group of diseases which cause brain tissue damage due to the fact that blood cannot flow into the brain due to sudden rupture of cerebral vessels or blood vessel blockage, and comprises ischemic stroke and hemorrhagic stroke, along with the continuous improvement of the level of modern medicine, the treatment capacity of the cerebral vascular disease is obviously improved, the death rate is greatly reduced, but the disability rate is relatively increased, so that the disorders of the patients in the aspects of speech, swallowing, cognition, motor ability, walking ability and the like are caused, particularly, the recovery of the walking ability and the daily living activity ability of the patients is seriously influenced by the limb movement dysfunction, so that the walking ability is recovered, and the cerebral vascular disease has very important significance for the improvement of the daily living activity of the hemiplegic patients and the improvement of the life quality of the patients.
The rehabilitation of the limb movement dysfunction of the patient caused by the stroke needs a long period, so scientific and systematic guidance is needed in the rehabilitation training process, and at present, the rehabilitation training system for the stroke patient has the following problems: firstly, the pertinence of the training system is poor, and the patient cannot make targeted guidance according to the individual patient, so that the phenomenon of motion transition or insufficient motion occurs in the training process of the patient, and the rehabilitation effect of the patient is influenced; secondly, the training system has low intelligent degree and poor adjustability, the system usually gives a training scheme, patients can passively accept the training scheme, the training scheme cannot be adjusted according to the real-time state of the patients in the training process, the training system has strong mechanicalness and small adjustable range, and the requirement of the patients on systematic training cannot be met; thirdly, supervision in the training process is insufficient, and due to the long recovery period, the participation of professionals in the training process is low, so that patients are mostly in an independent state in the training process, sports fatigue and injury are easily caused, and recovery of the patients is not facilitated.
Disclosure of Invention
The invention mainly aims to provide a rehabilitation training system and method based on active feedback, which can effectively solve the problems in the background art.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a rehabilitation training system based on active feedback, rehabilitation training system include walking ability training module, nerve fatigue characteristic quantity acquisition module, limbs fatigue characteristic quantity acquisition module and information processing module, wireless communication between walking ability training module and the information processing module, nerve fatigue characteristic quantity acquisition module and limbs fatigue characteristic quantity acquisition module all are connected with walking ability training module to be used for respectively acquireing patient uses the brain electromyographic signal of walking ability training module in-process, the electromyographic signal and the gait information of relevant muscle, and will acquire the information of passing through communication cable transmission to information processing module.
The walking ability training module comprises a machine body group, an identity information recognition module, a gait training mechanism, a walking training mechanism and an upper limb swing training mechanism, wherein the identity information recognition module is installed on the front side of the machine body group and used for recognizing and storing identity information and training data information of a user, the gait training mechanism is installed on the upper side of the machine body group and used for correcting a hemiplegic gait, the walking training mechanism is installed inside the machine body group and used for training the walking ability of the patient, and the upper limb swing mechanism is installed on two sides of the gait training mechanism and used for swing training of an upper limb of the user in a walking process.
The neural fatigue characteristic quantity acquisition module is wearable electroencephalogram signal acquisition equipment and is used for acquiring electroencephalogram slow waves and electroencephalogram fast waves in the training process of a user and calculating the energy ratio of the acquired electroencephalogram slow waves to the electroencephalogram fast waves.
The limb fatigue characteristic quantity acquisition module comprises an affected limb side sampling electrode, a comparison group sampling electrode and an electromyographic signal acquisition instrument, wherein the affected limb side sampling electrode is used for acquiring an electromyographic signal of a muscle related to an affected limb side in the exercise process of a user, and the comparison group sampling electrode is used for acquiring an electromyographic signal of a muscle related to a limb on the normal side in the exercise process of the user.
Further, gait training mechanism includes mounting bracket, mounting panel, driving motor, drive mechanism, link mechanism, foot fixer and plantar pressure acquisition sensor, the mounting bracket is hollow structure, mounting panel and mounting bracket bolted connection, driving motor installs inside the mounting bracket to drive link mechanism through drive mechanism and rotate in a reciprocating manner, the foot fixer follows link mechanism and rotates to sole pressure acquisition sensor through fixing at its tip acquires user's plantar pressure value.
Further, upper limbs swing training mechanism includes telescopic link, handrail, pivot, two-way torsional spring and corner sensor, the telescopic link lower extreme rotates around the pivot, and telescopic link and two-way torsional spring coupling, corner sensor installs in the medial surface of pivot for detect the turned angle of pivot.
Furthermore, the transmission mechanism is a belt wheel type transmission mechanism, the connecting rod mechanism comprises a connecting rod, a sleeve and a buffer spring, the connecting rod and the buffer spring are symmetrically arranged inside the sleeve and are in sliding connection with the sleeve, the connecting rod on one side is fixedly connected with the mounting plate, and the connecting rod on the other side is rotatably connected with the foot fixer.
Further, organism group includes base, support frame and stopper, the support frame is installed in the base upper end, and the support frame is extending structure, the stopper is used for the spacing of support frame, identity information identification module includes display, identification camera and built-in wireless communication module, the display is installed in the inboard of support frame, identification camera and built-in wireless communication module are all installed inside the display, walking training mechanism includes the track of symmetric distribution in the mounting bracket both sides, changes roller, actuator and driver.
Furthermore, the brain wave slow wave frequency is 4-8 Hz, and the brain wave fast wave frequency is 13-40 Hz.
Further, the relevant muscles are gluteus maximus, iliocoris psoas, quadriceps femoris, sartorius, popliteus, tibialis anterior, triceps surae, pectoralis major, brachioradialis, biceps brachii, and flexor carpi radialis.
Further, the use method of the device comprises the following steps:
firstly, performing facial recognition on a user through a recognition camera of an identity information recognition module, reading stored training data according to personal information, determining a training scheme according to the stored training data, and adjusting operation parameters of a driving motor and a driver in a walking ability training module according to the training scheme;
acquiring plantar pressure values of a user in the training process through a plantar pressure acquisition sensor of a walking ability training module, acquiring electroencephalogram slow wave and electroencephalogram fast wave signals of the user in the training process through a nerve fatigue characteristic quantity acquisition module, and acquiring myoelectric signals of relevant muscle groups of the user, such as gluteus maximus, iliocoris, quadriceps femoris, sartorius, popliteus, tibialis anterior, triceps surae, pectoralis major, brachioradialis, biceps brachii, flexor carpi radialis and the like, through a limb fatigue characteristic quantity acquisition module;
and thirdly, calculating the energy ratio of the electroencephalogram slow waves to the electroencephalogram fast waves through the information processing module to judge whether the user is in mental fatigue, analyzing the collected electromyographic signals of the relevant muscles to judge whether the user is in limb fatigue, sending different control instructions to the driving motor and the driver through the information processing module according to the obtained analysis result, and adjusting the operating parameters of the driving motor and the driver.
Compared with the prior art, the invention has the following beneficial effects:
1) The rehabilitation training system monitors the motion process of a user in real time based on the brain electromyographic signals, the electromyographic signals of related muscles and gait information in the motion process of the patient, judges the brain fatigue degree and the muscle fatigue degree of the user according to various evaluation index data collected by the system, controls motion parameters according to the judgment result in a feedback mode, is high in intelligent degree, and can avoid the situation that the user suffers from athletic injuries and athletic spasm;
2) The system can store training data of different users, give reasonable and scientific motion guidance aiming at the users, ensure that the patients keep proper amount of exercise, realize real-time supervision in the whole motion process by collecting the motion data, has strong adjustability, can meet the requirements of systematic training of different patients and is beneficial to the rehabilitation of the patients;
3) Through the walking ability training module who sets up, can train patient's walking ability and limbs balance ability under different modes, simultaneously in patient's motion process, gather patient's plantar pressure value through plantar pressure acquisition sensor, through installing the corner sensor in the medial surface of pivot, acquire patient's upper limbs wobbling angle value, combine patient's flesh electrical signal, can assess patient's walking ability and walking gait, be convenient for carry out the pertinence to patient's hemiplegia gait and correct, help the patient to resume walking ability.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the walking ability training module according to the present invention;
FIG. 3 is an exploded view of the walking ability training module of the present invention;
FIG. 4 is an exploded view of the gait training mechanism of the invention;
fig. 5 is an exploded view of the linkage mechanism of the present invention.
In the figure: 1. a walking ability training module; 11. a body group; 111. a base; 112. a support frame; 113. a stopper; 12. an identity information recognition module; 121. a display; 122. identifying a camera; 123. a built-in wireless communication module; 13. a gait training mechanism; 131. a mounting frame; 132. mounting a plate; 133. a drive motor; 134. a transmission mechanism; 135. a link mechanism; 135a, a connecting rod; 135b, a sleeve; 135c, a buffer spring; 136. a foot anchor; 137. a plantar pressure acquisition sensor; 14. a walking training mechanism; 141. a crawler belt; 142. rotating the roller; 143. a driver; 144. a driver; 15. an upper limb swing training mechanism; 151. a telescopic rod; 152. a handrail; 153. a rotating shaft; 154. a bidirectional torsion spring; 155. a rotation angle sensor; 2. a nerve fatigue characteristic quantity acquisition module; 3. a limb fatigue characteristic quantity acquisition module; 31. a sampling electrode at the affected limb side; 32. a control group sampling electrode; 33. an electromyographic signal acquisition instrument; 4. and an information processing module.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are for illustrative purposes only and are not intended to be limiting, and certain features are omitted, enlarged or reduced in size to better illustrate the detailed description, and are not intended to represent the actual product.
Example 1
As shown in fig. 1 and 2, the rehabilitation training system comprises a walking ability training module 1, a nerve fatigue characteristic quantity acquisition module 2, a limb fatigue characteristic quantity acquisition module 3 and an information processing module 4, the walking ability training module 1 is in wireless communication with the information processing module 4, the nerve fatigue characteristic quantity acquisition module 2 and the limb fatigue characteristic quantity acquisition module 3 are both connected with the walking ability training module 1 and are respectively used for acquiring a brain myoelectric signal, a myoelectric signal of relevant muscles and gait information of a patient in the process of using the walking ability training module 1 and sending the acquired information to the information processing module 4 through a communication cable.
The walking ability training module 1 comprises a machine body group 11, an identity information recognition module 12, a gait training mechanism 13, a walking training mechanism 14 and an upper limb swing training mechanism 15, wherein the identity information recognition module 12 is installed on the front side of the machine body group 11 and used for recognizing and storing identity information and training data information of a user, the gait training mechanism 13 is installed on the upper side of the machine body group 11 and used for correcting hemiplegic gait, the walking training mechanism 14 is installed inside the machine body group 11 and used for training walking ability of the patient, and the upper limb swing mechanism 15 is installed on two sides of the gait training mechanism 13 and used for swing training of upper limbs in a walking process of the user.
The nerve fatigue characteristic quantity acquisition module 2 is wearable electroencephalogram signal acquisition equipment and is used for acquiring electroencephalogram slow waves and electroencephalogram fast waves in the training process of a user and calculating the energy ratio of the acquired electroencephalogram slow waves to the acquired electroencephalogram fast waves.
The limb fatigue characteristic quantity acquisition module 3 comprises an affected limb side sampling electrode 31, a comparison group sampling electrode 32 and an electromyographic signal acquisition instrument 33, wherein the affected limb side sampling electrode 31 is used for acquiring an electromyographic signal of a muscle related to an affected limb side in the exercise process of a user, and the comparison group sampling electrode 32 is used for acquiring an electromyographic signal of a muscle related to a normal limb side in the exercise process of the user.
The slow wave frequency of the brain electricity is 4-8 Hz, and the fast wave frequency of the brain electricity is 13-40 Hz.
The relevant muscles are gluteus maximus, ilio-lumbus, quadriceps femoris, sartorius, popliteal cord, tibialis anterior, triceps surae, pectoralis major, brachioradialis, biceps brachii, and flexor carpi radialis.
By adopting the technical scheme: during limb movement, the muscle fiber activation generates microvolt-level biological voltage, weak electric signals, namely surface electromyographic signals, are formed on the surface of skin in a superposition mode and serve as real-time objective responses of limbs to nerve movement control, the surface electromyographic signals are often used for analyzing the active movement intention of a human body, the integral electromyographic value is the sum of the areas of the surface electromyographic signals under a curve in unit time after rectification and filtering, the intensity of the activity of the electromyographic signals can be reflected, and researches show that as the muscle fatigue degree is deepened, the intracellular H caused by metabolic acidification can be generated in myocyte + Accumulation is carried out, so that the conduction speed of the muscle fiber action potential is reduced, the surface electromyogram signal frequency spectrum is transferred to a low frequency, therefore, the frequency value of the central position of the surface electromyogram signal power curve can be utilized to reflect the fatigue degree of muscles, along with the increase of the sports fatigue, the frequency value of the central position of the surface electromyogram signal power curve is in a descending trend, on the other hand, along with the increase of the sports fatigue degree, the electroencephalogram slow wave (4-8 Hz wave) is gradually increased, the fast wave (13-40 Hz wave) is gradually reduced, therefore, the fatigue degree of the brain can be reflected by calculating the energy ratio of the slow wave and the fast wave of the electroencephalogram signal, namely the brain fatigue index, before the electrodes are placed, the scalp needs to be flushed and cleaned, the skin surface needs to be wiped with alcohol, the sampling frequency is set to be 1000Hz, 50Hz trap processing is carried out, meanwhile, noise interference of baseline drift is filtered, 4-40 Hz band-pass filtering is carried out on the original electroencephalogram signal, 10-pass filtering is carried out on the electromyogram signal to 200Hz, effective frequency bands of the electroencephalogram signal and electromyogram signal are extracted, and the effective frequency band-pass filtering is obtained by the nerve fatigue characteristic quantity acquisition module 2 which is arranged in the training process of a userBrain wave slow wave and brain wave fast wave signals are sent to the information processing module 4, a brain fatigue index is calculated, myoelectric signals of relevant muscle groups such as gluteus maximus, iliocolumbus muscle, quadriceps femoris, sartorius muscle, popliteus muscle, tibialis anterior muscle, triceps cruris muscle, pectoralis major muscle, brachial muscle, biceps brachii muscle, flexor carpi radialis and the like of a user are obtained through the limb fatigue characteristic quantity acquisition module 3 and are sent to the information processing module 4 through data lines, the information processing module 4 judges the brain fatigue degree and the muscle fatigue degree of the user in the exercise process through the calculated brain fatigue index and the central frequency value of the power curve of the surface myoelectric signal, when the brain fatigue degree of the user is increased but the muscle fatigue degree is not increased, the muscle state of the user is in a good state, but the mental state is in a relaxed state, at the moment, the running parameters of the driving motors 133 and the drivers are kept, and the display 121 is used for playing a short piece with encouragement to help overcome the bad feeling of the inner heart and keep the active exercise state of the user. When the brain fatigue degree of the user is not increased but the muscle fatigue degree is increased, the limb of the user is in an overload state, at the moment, the information processing module 4 sends a control instruction to the driving motor 133 and the driver 144, the rotating speed of the driving motor 133 and the driver 144 is reduced, the muscle conforming degree of the user is reduced, the situation that the user suffers from sports injury or muscle spasm is avoided, meanwhile, the affected limb side sampling electrode 31 and the comparison group sampling electrode 32 are arranged, myoelectric signals of relevant muscles of the affected limb side and myoelectric signals of relevant muscles of the normal limb side in the movement process of the user are respectively collected, comparison can be formed, the difference between the muscles of the normal limb side and the affected limb side in the movement process of the user is analyzed, and the practical significance is provided for guiding the placement of the good limb position of the patient, the maintenance of the limb posture in daily life and the design of auxiliary correction equipment.
Example 2
As shown in fig. 1 to 5, a rehabilitation training system and method based on active feedback includes a walking ability training module 1, a nerve fatigue characteristic quantity acquisition module 2, a limb fatigue characteristic quantity acquisition module 3, and an information processing module 4, the walking ability training module 1 and the information processing module 4 are in wireless communication, the nerve fatigue characteristic quantity acquisition module 2 and the limb fatigue characteristic quantity acquisition module 3 are both connected with the walking ability training module 1, and are respectively used for acquiring a brain myoelectric signal, a myoelectric signal of relevant muscle, and gait information of a patient in the process of using the walking ability training module 1, and transmitting the acquired information to the information processing module 4 through a communication cable.
The walking ability training module 1 comprises a machine body group 11, an identity information recognition module 12, a gait training mechanism 13, a walking training mechanism 14 and an upper limb swing training mechanism 15, wherein the identity information recognition module 12 is installed on the front side of the machine body group 11 and used for recognizing and storing identity information and training data information of a user, the gait training mechanism 13 is installed on the upper side of the machine body group 11 and used for correcting hemiplegic gait, the walking training mechanism 14 is installed inside the machine body group 11 and used for training walking ability of the patient, and the upper limb swing mechanism 15 is installed on two sides of the gait training mechanism 13 and used for swing training of upper limbs in a walking process of the user.
The gait training mechanism 13 comprises a mounting frame 131, a mounting plate 132, a driving motor 133, a transmission mechanism 134, a link mechanism 135, a foot fixer 136 and a plantar pressure acquisition sensor 137, the mounting frame 131 is of a hollow structure, the mounting plate 132 is connected with the mounting frame 131 through a bolt, the driving motor 133 is mounted inside the mounting frame 131, the driving mechanism 134 drives the link mechanism 135 to rotate in a reciprocating manner, the foot fixer 136 rotates along with the link mechanism 135, and the plantar pressure acquisition sensor 137 fixed at the end part of the foot fixer acquires the plantar pressure value of a user.
The upper limb swing training mechanism 15 includes a telescopic rod 151, an armrest 152, a rotating shaft 153, a bidirectional torsion spring 154, and a rotation angle sensor 155, wherein the lower end of the telescopic rod 151 rotates around the rotating shaft 153, the telescopic rod 151 is connected to the bidirectional torsion spring 154, and the rotation angle sensor 155 is mounted on the inner end surface of the rotating shaft 153 and is used for detecting the rotation angle of the rotating shaft 153.
The transmission mechanism 134 is a belt wheel type transmission mechanism, the link mechanism 135 includes a link 135a, a sleeve 135b and a buffer spring 135c, the link 135a and the buffer spring 135c are symmetrically installed inside the sleeve 135b and slidably connected with the sleeve 135b, the link 135a on one side is fixedly connected with the mounting plate 132, and the link 135a on the other side is rotatably connected with the foot holder 136.
The body group 11 includes a base 111, a support frame 112 and a limiter 113, the support frame 112 is installed on the base 111, and the support frame 112 is a telescopic structure, the limiter 113 is used for limiting the support frame 112, the identity information recognition module 12 includes a display 121, a recognition camera 122 and a built-in wireless communication module 123, the display 121 is installed on the inner side of the support frame 112, the recognition camera 122 and the built-in wireless communication module 123 are installed inside the display 121, the walking training mechanism 14 includes a crawler 141 symmetrically distributed on two sides of the installation frame 131, a rotating roller 142, a driver 143 and a driver 144.
By adopting the technical scheme: the walking ability training module 1 has the following training modes when in use: firstly, an active training mode: the feet of the patient are fixed inside the foot fixing device 136, the patient actively exerts force to drive the foot fixing device 136 to move, and the two hands of the patient can hold the handrails of the machine body group 11 and can also hold the handrails 152 of the upper limb swing training mechanism 15 to synchronously swing; secondly, a passive training mode: the feet of the patient are fixed in the foot fixer 136, the driving motor 133 is electrified to operate and drives the east connecting rod mechanism 135 to rotate in a reciprocating manner through the transmission mechanism 134, and at the moment, the lower limbs of the patient move along with the foot fixer 136 to perform passive training; and thirdly, in a walking training mode, the feet of the patient stand on the upper ends of the crawler belts 141 respectively, the driver 144 operates to drive the driver 143 to rotate, the driver 143 drives the crawler belts 144 to rotate through the rotating rollers 142, and the walking speed of the patient is regulated and controlled by controlling the rotating speed of the crawler belts 144 to help the patient to train the walking ability. The pressure value of the vola of the patient is collected through the vola pressure collecting sensor 137 in the movement process of the patient, the rotation angle of the rotating shaft 153 is detected through the rotation angle sensor 155 installed on the inner side end face of the rotating shaft 153, so that the swing angle value of the upper limb of the patient is obtained, the walking ability and the walking gait of the patient can be evaluated by combining the myoelectric signals of the patient, the hemiplegia gait of the patient can be corrected pertinently, and the walking ability of the patient can be recovered.
When the rehabilitation training system and the rehabilitation training method based on active feedback are used, the face of a user is recognized through the recognition camera 122 of the identity information recognition module 12, stored training data are read according to personal information, a training scheme is determined according to the stored training data, operating parameters of the driving motor 133 and the driver 144 in the walking ability training module 1 are adjusted according to the training scheme, plantar pressure values in the training process of the user are acquired through the plantar pressure acquisition sensor 137 of the walking ability training module 1, slow waves and electroencephalogram fast-wave signals in the training process of the user are acquired through the nerve fatigue characteristic quantity acquisition module 2, flexor signals of relevant muscle groups of gluteus maximus, ilius psoas, quadriceps, sartorius, popliteus hamstring muscles, tibialis anterior muscles, triceps, pectoralis, brachiors, biceps, flexor carpus, and extensor flexor muscles of the user are acquired through the limb fatigue characteristic quantity acquisition module 3, energy ratios of the slow waves and fast-wave of the flexor muscles of the user are calculated through the information processing module 4, whether the electroencephalogram signals of the electroencephalogram and fast-wave energy ratios of the user appear or not are analyzed, whether electroencephalogram signals of the electroencephalogram signals and electroencephalogram drive the electromyogram motor 144, and the electromyogram signals of the relevant muscle driver are analyzed, and the electromyogram signals of the relevant myoelectricity generation control results of the motor 144 are obtained through the information processing module 144, and the electromyogram driver are judged.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a rehabilitation training system based on active feedback, rehabilitation training system include walking ability training module, neural fatigue characteristic quantity acquisition module, limbs fatigue characteristic quantity acquisition module and information processing module, its characterized in that: the walking ability training module is in wireless communication with the information processing module, and the nerve fatigue characteristic quantity acquisition module and the limb fatigue characteristic quantity acquisition module are both connected with the walking ability training module and are respectively used for acquiring a brain electromyographic signal, an electromyographic signal of relevant muscles and gait information of a patient in the process of using the walking ability training module and transmitting the acquired information to the information processing module through a communication cable; the walking ability training module comprises a machine body group, an identity information recognition module, a gait training mechanism, a walking training mechanism and an upper limb swinging training mechanism, wherein the identity information recognition module is installed on the front side of the machine body group and used for recognizing and storing identity information and training data information of a user; the neural fatigue characteristic quantity acquisition module is wearable electroencephalogram signal acquisition equipment and is used for acquiring electroencephalogram slow waves and electroencephalogram fast waves in the training process of a user and calculating the energy ratio of the acquired electroencephalogram slow waves to the electroencephalogram fast waves; the limb fatigue characteristic quantity acquisition module comprises a diseased limb side sampling electrode, a contrast group sampling electrode and an electromyographic signal acquisition instrument, wherein the diseased limb side sampling electrode is used for acquiring the electromyographic signal of the relevant muscle of the diseased limb side in the exercise process of a user, and the contrast group sampling electrode is used for acquiring the electromyographic signal of the relevant muscle of the normal limb side in the exercise process of the user; gait training mechanism includes mounting bracket, mounting panel, driving motor, drive mechanism, link mechanism, foot fixer and plantar pressure acquisition sensor, the mounting bracket is hollow structure, mounting panel and mounting bracket bolted connection, driving motor installs inside the mounting bracket to drive the reciprocal rotation of link mechanism through drive mechanism, the link mechanism is followed to the foot fixer rotates to sole pressure value through fixing the plantar pressure acquisition sensor at its tip acquires the user.
2. The active feedback-based rehabilitation training system of claim 1, wherein: upper limbs swing training mechanism includes telescopic link, handrail, pivot, two-way torsional spring and corner sensor, the telescopic link lower extreme rotates around the pivot, and telescopic link and two-way torsional spring connection, corner sensor installs in the medial surface of pivot for detect the turned angle of pivot.
3. The active feedback-based rehabilitation training system of claim 1, wherein: the transmission mechanism is a belt wheel type transmission mechanism, the connecting rod mechanism comprises a connecting rod, a sleeve and a buffer spring, the connecting rod and the buffer spring are symmetrically arranged in the sleeve and are in sliding connection with the sleeve, the connecting rod on one side is fixedly connected with the mounting plate, and the connecting rod on the other side is rotatably connected with the foot fixer.
4. The active feedback-based rehabilitation training system of claim 1, wherein: organism group includes base, support frame and stopper, the support frame is installed in the base upper end, and the support frame is extending structure, the stopper is used for the spacing of support frame, identity information identification module includes display, identification camera and built-in wireless communication module, the display is installed in the inboard of support frame, identification camera and built-in wireless communication module are all installed inside the display, walking training mechanism includes that the symmetric distribution is in track, commentaries on classics roller, actuator and the driver of mounting bracket both sides.
5. The active feedback-based rehabilitation training system of claim 1, wherein: the brain wave slow wave frequency is 4-8 Hz, and the brain wave fast wave frequency is 13-40 Hz.
6. The active feedback-based rehabilitation training system of claim 1, wherein: the related muscles are gluteus maximus, iliocostaleus muscle, quadriceps femoris muscle, sartorius muscle, popliteal cord muscle, tibialis anterior muscle, triceps surae muscle, pectoralis major, brachioradialis muscle, biceps brachii muscle and flexor carpi radialis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210165125.4A CN114470635B (en) | 2022-02-23 | 2022-02-23 | Rehabilitation training system and method based on active feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210165125.4A CN114470635B (en) | 2022-02-23 | 2022-02-23 | Rehabilitation training system and method based on active feedback |
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| CN106176141A (en) * | 2016-08-31 | 2016-12-07 | 河南优德医疗设备股份有限公司 | A kind of gait walk help training devices |
| CN109528203A (en) * | 2019-01-21 | 2019-03-29 | 郑州大学 | A kind of interactive patients with cerebral apoplexy gait training and evaluating system based on Multi-source Information Fusion |
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| RU2703838C1 (en) * | 2019-06-18 | 2019-10-22 | Виталий Юрьевич Цыганков | Method for recovering motor function of limb |
| CN111544854A (en) * | 2020-04-30 | 2020-08-18 | 天津大学 | Cerebral apoplexy motor rehabilitation method based on brain myoelectric signal deep learning fusion |
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| CN104000586A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Stroke patient rehabilitation training system and method based on brain myoelectricity and virtual scene |
| CN106176141A (en) * | 2016-08-31 | 2016-12-07 | 河南优德医疗设备股份有限公司 | A kind of gait walk help training devices |
| CN109793644A (en) * | 2017-11-17 | 2019-05-24 | 丰田自动车株式会社 | Gait evaluation device, gait training system and gait evaluation method |
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