CN114474015A - Balance evaluation system based on exoskeleton - Google Patents
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- 238000012549 training Methods 0.000 claims abstract description 67
- 230000005484 gravity Effects 0.000 claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 26
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- 208000012661 Dyskinesia Diseases 0.000 description 1
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- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses a balance evaluation system based on an exoskeleton, which belongs to the technical field of exoskeleton and comprises a pressure monitoring unit; the invention obtains the gravity center position information of the user through the film type pressure sensor, processes and analyzes the information through the data processing unit, and can better improve the efficiency of the patient in rehabilitation training by evaluating the gravity center stability of the user, researching the typical data characteristics during gait walking according to the rehabilitation medical rehabilitation mechanism of the lower limbs, and judging the recovery degree of the gait walking from the internal mechanism.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a balance evaluation system based on exoskeletons.
Background
The lower limb paralysis caused by the stroke is a common disease, the lower limb of a patient can be effectively recovered by applying active artificial physical therapy by a physical therapist in clinic, but the defects of large human factors and inconsistent evaluation standards in the physical therapy process exist, and the lower limb exoskeleton rehabilitation robot system is effective rehabilitation treatment equipment developed on the basis of the robot technology according to the rehabilitation medical principle and meets the rehabilitation treatment requirements of the patient with limb dyskinesia
The existing rehabilitation evaluation is mainly to evaluate the rehabilitation of a patient according to the training process of visual inspection of the patient by a physical therapist and the experience of the physical therapist, so as to formulate the next training scheme. The evaluation mode has low efficiency and large subjectivity of evaluation effect, can not accurately control and record lower limb rehabilitation training parameters (track, speed, muscle tension and the like) in training, is not beneficial to the improvement of a treatment scheme, and has the following defects: due to the lack of an objective rehabilitation evaluation method and system, the formulation of a retraining scheme of a patient is not facilitated; rehabilitation training can be performed only for a single hip and knee joint, and the coordination training of the whole lower limb is difficult to realize; for solving the problems that rehabilitation training information is lacked, the training process is boring, and patients are passive to participate in training, a balance evaluation system based on an exoskeleton is provided.
Disclosure of Invention
The present invention is directed to a balance evaluation system based on an exoskeleton, which is capable of analyzing the stability of the center of gravity of a user by acquiring information on the position of the center of gravity of the user and analyzing the rehabilitation training effect based on the information on the center of gravity, thereby solving the problems of the related art.
In order to achieve the purpose, the invention provides the following technical scheme: the method comprises the following steps:
the exoskeleton control system comprises a pressure monitoring unit, a data acquisition module and a control unit, wherein the pressure monitoring unit comprises the data acquisition module, the data acquisition module is specifically a film type pressure sensor, and the film type pressure sensor is fixedly arranged on the surface of the exoskeleton foot;
the data processing unit comprises an MCU data processing module, and the MCU data processing module comprises a data calculation module, a data storage module and a data judgment module;
the data calculation module is used for calculating data acquired by the film type pressure sensor and calculating the position of the center of gravity of a wearer when the wearer wears the exoskeleton;
the data storage module is used for storing the data result calculated by the data calculation module;
the data judgment module is used for judging whether the training is finished or not, and judging the gravity center position of the wearer by extracting the calculation result in the data storage module by the data judgment module so as to judge whether the training is finished or not;
the training effect display unit is in signal connection with the data processing unit and comprises a training effect evaluation module and a rehabilitation effect verification module, and the training effect display unit visually displays the training result to the outside through the display terminal.
The pressure monitoring unit is also provided with a data transmission module, and the data transmission module is used for extracting the pressure information acquired by the data acquisition module and transmitting the pressure information to the data processing unit.
The MCU data processing module is also provided with a data receiving module, the data receiving module is in signal connection with the data transmission module, and the data receiving module receives the pressure data and then transmits the data to the data calculation module through signals.
Wherein the data calculation module may calculate a position of a center of gravity (X, Y) of the wearer, wherein X ═ (F1+ F2+ F3 +; + F72)/(F1 × X1+ F2 × 2 +; + F72 × 72), Y ═ (F1+ F2+ F3 +; + F72)/(F1 × Y1+ F2; + F2 +; + F72; + Y72); F1-F72 represent the values of 72 sensors on a single foot, and X1-X72, Y1-Y72 are correspondingly numbered sensors (X)0，Y0) Relative distance of (X)0，Y0) Is the origin of coordinates of a single foot surface.
The training effect display unit is also provided with a judgment receiving module, and the judgment receiving module is in signal connection with a judgment output module in the data processing unit.
The training effect evaluation module is in signal connection with the judgment receiving module, and the training effect evaluation module evaluates through the mctSIB or the LOS scale.
The rehabilitation effect verification module comprises a verification information extraction module and a data comparison module, the verification information extraction module is in signal connection with the data storage module, the center-of-gravity position information of a wearer can be extracted from the data storage module, and the initial center-of-gravity position information is compared with the center-of-gravity position information after training is completed through the data comparison module to verify the rehabilitation training effect.
The film type pressure sensor array is arranged on a plane between the sole of a user and the foot of the exoskeleton, and 72 film type pressure sensors are fixedly arranged on each foot surface of the exoskeleton.
Wherein the specific evaluation process of the exoskeleton-based balance evaluation system comprises the following steps:
s1, initializing;
s2, calibrating origin (X)0，Y0)；
S3, sensor 1 to origin (X)0，Y0) Is noted as (X)1，Y1)；
S4, recording sensor 2 to sensor 72 to origin (X) in sequence0，Y0) Is noted as (X)n，Yn)；
S5, scanning the pressure values F1 to F72 detected by the 72 sensors by the MCU;
s6, calculating the center of gravity X ═ F1+ F2+ F3+, + F72)/(F1X 1+ F2 × X2+, + F72X 72);
s7, calculating the center of gravity Y ═ F1+ F2+ F3+, + F72)/(F1 × Y1+ F2 × Y2+, + F72 × Y72);
s8, storing the (X, Y) coordinates by the MCU;
and S9, judging whether the training is finished or not, recording the gravity center position (X, Y) of the user when the training is finished, evaluating by using the mctSIB or LOS scale, and if the training is not finished, continuously repeating the steps S5 to S9 and judging again.
In summary, due to the adoption of the technology, the invention has the beneficial effects that:
1. the invention provides a balance evaluation system based on an exoskeleton, which obtains the gravity center position information of a user through a film type pressure sensor, processes and analyzes the information through a data processing unit, researches typical data characteristics during gait walking according to a lower limb rehabilitation medical rehabilitation mechanism by evaluating the gravity center stability of the user, judges the recovery degree of the gait walking from an internal mechanism, and can better improve the efficiency of a patient in rehabilitation training;
2. the invention can facilitate the physical therapist to formulate a treatment training scheme by evaluating the stability of the gravity center of the user, and can comprehensively reflect the parameters of the exercise capacity of the patient.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the distribution and relative positions of pressure sensors according to the present invention;
FIG. 3 is a block flow diagram of the system of the present invention;
FIG. 4 is a system hardware block diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
The present invention provides an exoskeleton-based balance assessment system, as shown in figures 1-4, comprising:
the exoskeleton control system comprises a pressure monitoring unit, a data acquisition module and a control unit, wherein the pressure monitoring unit comprises the data acquisition module, the data acquisition module is specifically a film type pressure sensor, and the film type pressure sensor is fixedly arranged on the surface of the exoskeleton foot;
the film type pressure sensor array is arranged on a plane between the foot bottom of a user and the foot of the exoskeleton, and 72 film type pressure sensors are fixedly arranged on the foot surface of each exoskeleton;
in this embodiment, the foot placement film type pressure sensor is used for detecting gravity center data of a user, and is not limited to 72 sensors, and can acquire gravity center position information of the user by arranging the film type pressure sensor, the film type pressure sensor comprises five parts, namely a stainless steel base with threads, a pressure sensitive chip, an A/D conversion circuit, an amplification circuit, an electric connector and the like, an input part of the sensor is connected with a detected medium through a threaded interface, and an output part of the sensor is connected with a display instrument through the electric connector, so that pressure detection is realized;
the sensitive resistor of the film pressure sensor is formed by plating a metal resistance film on a stainless steel elastic body through a microelectronic process in a purification room, namely, in a vacuum environment, an ion beam coating technology is utilized to deposit an insulating material and a resistance material on an elastic stainless steel film in a molecular form to form a molecular bonded insulating film and a resistance material film, the molecular bonded insulating film and the resistance material film are fused with the elastic stainless steel film into a whole, and four film resistors are formed on the surface of the elastic stainless steel film through multiple coating and photoetching;
the pressure monitoring unit is also provided with a data transmission module, and the data transmission module is used for extracting the pressure information acquired by the data acquisition module and transmitting the pressure information to the data processing unit;
through the arrangement of the pressure monitoring unit, the film type pressure sensor can acquire the gravity center position information of a user, and the gravity center position information of the user is transmitted to the data processing module through a signal by arranging the data transmission module;
the data processing unit comprises an MCU data processing module, and the MCU data processing module comprises a data calculation module, a data storage module and a data judgment module;
the MCU data processing module is also provided with a data receiving module, the data receiving module is in signal connection with the data transmission module, and the data receiving module receives pressure data and then transmits the data to the data calculation module through signals;
the MCU refers to a micro control unit, also called a single chip microcomputer or a single chip microcomputer, which properly reduces the frequency and specification of a central processing unit, integrates peripheral interfaces such as a memory, a counter, a USB, A/D conversion, a UART, a PLC, a DMA and the like, even an LCD driving circuit on a single chip to form a chip-level computer, and performs different combined control for different application occasions, such as mobile phones, PC peripheries, remote controllers, control of stepping motors, robot arms and the like in automotive electronics, industry and the like, and can see the figure of the MCU;
the data calculation module is used for calculating data acquired by the film type pressure sensor and calculating the position of the center of gravity of a wearer when the wearer wears the exoskeleton;
the data calculation module may calculate a position of a center of gravity (X, Y) of the wearer, where X ═ (F1+ F2+ F3+ - + F72)/(F1 × 1+ F2 × 2+ - + F72 × 72), and Y ═ F1+ F2+ F3+ - + F72)/(F1 × Y1+ F2 ± + F2+ - + F72 · Y72); F1-F72 represent values of 72 sensors on a single foot, X1-X72, Y1-Y72 are correspondingly numbered sensors (X)0，Y0) Relative distance of (X)0，Y0) Is the origin of coordinates of a single foot surface;
the data storage module is used for storing the data result calculated by the data calculation module;
the data judgment module is used for judging whether the training is finished or not, and judging the gravity center position of the wearer by extracting the calculation result in the data storage module by the data judgment module so as to judge whether the training is finished or not;
through the arrangement of the data processing unit, the data receiving module can receive data information output by the data transmission module in the pressure monitoring unit and input the data information into the data calculation module, the gravity center position information of a user is calculated through the data calculation module, the calculated gravity center position information of the user is stored in the data storage module for backup, after the calculation is completed, the data judgment module can extract a calculation result from the data storage module and judge and analyze the calculation result, the gravity center position (X, Y) of the user is recorded when the training is completed, the gravity center position information of the user is continuously and repeatedly calculated when the training is not completed, and the judged training result can be transmitted to the training effect display unit through the arrangement of the judgment output module;
the training effect display unit is in signal connection with the data processing unit and comprises a training effect evaluation module and a rehabilitation effect verification module, and the training effect display unit visually displays a training result to the outside through a display terminal;
the lower limb exoskeleton robot is mainly used for assisting a hemiplegic patient to carry out gait rehabilitation, and the rehabilitation training efficiency can be ensured only by simulating normal gait to the maximum extent. Accurate numerical control is needed when normal gait is simulated, so that effective accurate numerical control can be performed while the lower limb exoskeleton assists rehabilitation training, and the rehabilitation training efficiency can be improved to a great extent.
Example 2
Referring to fig. 1 and 3, the embodiment 2 is different from the embodiment in that: the training effect display unit is also provided with a judgment receiving module, the judgment receiving module is in signal connection with a judgment output module in the data processing unit, the training effect evaluation module is in signal connection with the judgment receiving module, and the training effect evaluation module evaluates through the mctSIB or the LOS scale;
the rehabilitation effect verification module comprises a verification information extraction module and a data comparison module, the verification information extraction module is in signal connection with the data storage module, and can extract the gravity center position information of a wearer from the data storage module and compare the initial gravity center position information with the gravity center position information after training is completed through the data comparison module so as to verify the rehabilitation training effect;
the training effect evaluation module is arranged to judge and evaluate the result of the rehabilitation training, and the training effect evaluation in this embodiment adopts an evaluation method of the mctSIB or LOS scale, so that the training effect can be effectively and visually evaluated;
through the setting of recovered effect verification module, the user accessible is drawed the module and is drawed user's focus positional information from the data storage module to according to user's initial focus positional information and the focus positional information after the training is accomplished and combine the analysis, and compare the module through the data and carry out contrastive analysis, in order to obtain the change information of focus position, according to the effect of the change analysis rehabilitation training of focus position.
Example 3
Referring to fig. 3, the difference between this embodiment 3 and embodiments 1 and 2 is: the embodiment also discloses a specific evaluation process of the exoskeleton-based balance evaluation system, which comprises the following steps:
s1, initializing;
s2, calibrating origin (X)0，Y0)；
S3, sensor 1 to origin (X)0，Y0) Is noted as (X)1，Y1)；
S4, recording sensor 2 to sensor 72 to origin (X) in sequence0，Y0) Is noted as (X)n，Yn)；
S5, scanning the pressure values F1 to F72 detected by the 72 sensors by the MCU;
s6, calculating the center of gravity X ═ F1+ F2+ F3+, + F72)/(F1X 1+ F2 × X2+, + F72X 72);
s7, calculating the center of gravity Y ═ F1+ F2+ F3+, + F72)/(F1 × Y1+ F2 × Y2+, + F72 × Y72);
s8, storing the (X, Y) coordinates by the MCU;
and S9, judging whether the training is finished or not, recording the gravity center position (X, Y) of the user when the training is finished, evaluating by using the mctSIB or LOS scale, and if the training is not finished, continuously repeating the steps S5 to S9 and judging again.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Claims (9)
1. An exoskeleton-based balance assessment system comprising:
the exoskeleton control system comprises a pressure monitoring unit, a data acquisition module and a control unit, wherein the pressure monitoring unit comprises the data acquisition module, the data acquisition module is specifically a film type pressure sensor, and the film type pressure sensor is fixedly arranged on the surface of the exoskeleton foot;
the data processing unit comprises an MCU data processing module, and the MCU data processing module comprises a data calculating module, a data storage module and a data judging module;
the data calculation module is used for calculating data acquired by the film type pressure sensor and calculating the position of the center of gravity of a wearer when the wearer wears the exoskeleton;
the data storage module is used for storing the data result calculated by the data calculation module;
the data judgment module is used for judging whether the training is finished or not, and judging the gravity center position of the wearer by extracting the calculation result in the data storage module by the data judgment module so as to judge whether the training is finished or not;
the training effect display unit is in signal connection with the data processing unit and comprises a training effect evaluation module and a rehabilitation effect verification module, and the training effect display unit visually displays the training result to the outside through the display terminal.
2. The exoskeleton-based balance assessment system of claim 1 wherein: the pressure monitoring unit is also provided with a data transmission module, and the data transmission module is used for extracting the pressure information acquired by the data acquisition module and transmitting the pressure information to the data processing unit.
3. The exoskeleton-based balance assessment system of claim 2 wherein: the MCU data processing module is also provided with a data receiving module, the data receiving module is in signal connection with the data transmission module, and the data receiving module receives the pressure data and then transmits the data to the data calculation module through signals.
4. The exoskeleton-based balance assessment system of claim 1 wherein: the data calculation module may calculate a center of gravity position (X, Y) of the wearer, where X ═ F1+ F2+ F3+, + F72)/(F1 × 1+ F2 × 2+, + F72 × 72), and Y ═ F1+ F2+ F3+, + F72)/(F1 × Y1+ F2Y 2+, + F72 · Y72); F1-F72 represent the values of 72 sensors on a single foot, and X1-X72, Y1-Y72 are correspondingly numbered sensors (X)0，Y0) Relative distance of (X)0，Y0) Is the origin of coordinates of a single foot surface.
5. The exoskeleton-based balance assessment system of claim 1 wherein: the training effect display unit is also provided with a judgment receiving module, and the judgment receiving module is in signal connection with a judgment output module in the data processing unit.
6. The exoskeleton-based balance assessment system of claim 5 wherein: the training effect evaluation module is in signal connection with the judgment receiving module and evaluates through the mctSIB or LOS scale.
7. The exoskeleton-based balance assessment system of claim 1 wherein: the rehabilitation effect verification module comprises a verification information extraction module and a data comparison module, the verification information extraction module is in signal connection with the data storage module, the center-of-gravity position information of a wearer can be extracted from the data storage module, and the initial center-of-gravity position information is compared with the center-of-gravity position information after the training is completed through the data comparison module so as to verify the rehabilitation training effect.
8. The exoskeleton-based balance assessment system of claim 1 wherein: the film type pressure sensor array is arranged on a plane between the sole of a user and the foot of the exoskeleton, and 72 film type pressure sensors are fixedly arranged on the foot surface of each exoskeleton.
9. The exoskeleton-based balance assessment system of claim 1 wherein: the specific evaluation process of the exoskeleton-based balance evaluation system comprises the following steps:
s1, initializing;
s2, calibrating origin (X)0，Y0)；
S3, sensor 1 to origin (X)0，Y0) Is noted as (X)1，Y1)；
S4, recording sensor 2 to sensor 72 to origin (X) in sequence0，Y0) Is denoted by (X)n，Yn)；
S5, scanning the pressure values F1 to F72 detected by the 72 sensors by the MCU;
s6, calculating the center of gravity X ═ F1+ F2+ F3+, + F72)/(F1X 1+ F2 × X2+, + F72X 72);
s7, calculating the center of gravity Y ═ F1+ F2+ F3+, + F72)/(F1 × Y1+ F2 × Y2+, + F72 × Y72);
s8, storing the (X, Y) coordinates by the MCU;
and S9, judging whether the training is finished or not, recording the gravity center position (X, Y) of the user when the training is finished, evaluating by using the mctSIB or LOS scale, and if the training is not finished, continuously repeating the steps S5 to S9 and judging again.
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| CN112669964A (en) * | 2019-10-16 | 2021-04-16 | 深圳市迈步机器人科技有限公司 | Power exoskeleton and rehabilitation evaluation method based on same |
| CN111938654A (en) * | 2020-07-06 | 2020-11-17 | 华南师范大学 | Sufficient state testing method and system, wearable device and storage medium |
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