CN208823336U - A kind of man-machine interactive system of lower limb rehabilitation Therapy robot - Google Patents
A kind of man-machine interactive system of lower limb rehabilitation Therapy robot Download PDFInfo
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- CN208823336U CN208823336U CN201721460418.6U CN201721460418U CN208823336U CN 208823336 U CN208823336 U CN 208823336U CN 201721460418 U CN201721460418 U CN 201721460418U CN 208823336 U CN208823336 U CN 208823336U
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Abstract
The utility model provides a kind of man-machine interactive system of lower limb rehabilitation Therapy robot, including camera, brain wave acquisition device, voice acquisition device, mouse-keyboard and controller, the facial expression or limb action of the camera acquisition operator is sent to controller, the EEG signals of the brain wave acquisition device acquisition operator are sent to controller, the voice signal of the voice acquisition device acquisition operator is sent to controller, and the mouse-keyboard receives operator's input information and is sent to controller；The controller according to setting priority execute camera, brain wave acquisition device, voice acquisition device mouse-keyboard input, control ectoskeleton movement.The utility model input mode is versatile and flexible, more particularly to provide people with mobility problems friendly man-machine interactive interface, and has fully considered emergency measure in emergency circumstances.
Description
Technical field
The present invention relates to rehabilitation medical robot technical field, especially a kind of intelligence of human body lower limbs robots for rehabilitation therapy
It can man-machine interactive system.
Background technique
As China human mortality aging is on the rise, disabled person's sum is big, and the patient for carrying out rehabilitation medical is needed to increase year by year
It is more.Effective rehabilitation instruction can be carried out to physical disabilities patient in such a way that exoskeleton robot carries out limb rehabilitation training
Practice.
Exoskeleton robot is a kind of typical power assisting device, and doctor and patient pass through human-computer interaction interface to ectoskeleton machine
Device people controls.
Currently, rehabilitation medical robot intelligent human-machine interaction system uses traditional human-computer interaction mechanism, traditional intelligence
Man-machine interactive system input is relatively simple, may only carry out information input and shape by input peripheral (mouse-keyboard) and display
State monitoring, feedback information are also relatively simple.Due to using the most patients of rehabilitation medical robot handicapped, such design
It is very inconvenient that operation information input is carried out for handicapped patient, while can not first time when patient is uncomfortable
Carry out emergency processing.Therefore it is friendly convenient that there is an urgent need to interactions, and emergency rating considers sufficient man-machine interactive system.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of human-computer interaction system of lower limb rehabilitation Therapy robot
System, input mode is versatile and flexible, more particularly to provide people with mobility problems friendly man-machine interactive interface, and fully considers
Emergency measure in emergency circumstances.
The technical solution adopted by the present invention to solve the technical problems is: a kind of intelligent people of lower limb rehabilitation Therapy robot
Machine interactive system, including camera, brain wave acquisition device, voice acquisition device, mouse-keyboard and controller；The camera
The facial expression or limb action for acquiring operator are sent to controller, the brain electricity of the brain wave acquisition device acquisition operator
Signal is sent to controller, and the voice signal of the voice acquisition device acquisition operator is sent to controller, the mouse
Mark keyboard receives operator's input information and is sent to controller；The controller according to setting priority execute camera,
Brain wave acquisition device, voice acquisition device mouse-keyboard input, control ectoskeleton movement.
The display and camera is connect by video transmission line with controller, and the brain wave acquisition device passes through
Signal wire is connect with controller, and the voice acquisition device is connect by voice transmission line with controller, the mouse button
Disk is connect by USB line with controller, and the controller is connect with ectoskeleton by signal wire.
The camera includes but is not limited to Kinect camera.
The voice acquisition device includes but is not limited to noise reduction microphone.
The controller that the controller, including but not limited to PC and ARM are composed.
One is arbitrarily set in the camera, brain wave acquisition device, voice acquisition device and mouse-keyboard as answering
Anxious processing input interface.
The invention also includes displays, connect controller, to show camera, brain wave acquisition device, voice collecting dress
Set the input information with mouse-keyboard.
The beneficial effects of the present invention are: due to using RBGD camera, voice acquisition device, brain wave acquisition device and biography
The input unit of system four different dimensions of peripheral hardware, can support people with mobility problems flexibly to use human-computer interaction provided by the invention
System.This system supports patient that can reach information input and emergency processing by shirtsleeve operation, and input process is very friendly,
Meanwhile when the critical condition that happens suddenly needs to carry out emergency processing in time, above-mentioned any input, which can be used as, is quickly and easily answered
Anxious processing input interface.Due to input mode diversification but also the feedback information diversification of display.In conclusion of the invention
Advantage is summarized as follows: (1) operating convenient close friend；(2) input interface of diversification is provided；(3) handicapped people is facilitated to carry out
Information input and emergency processing.
Detailed description of the invention
Fig. 1 is structural schematic block diagram of the invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
A kind of intelligent human-machine interaction system of lower limb rehabilitation Therapy robot provided by the invention, including RGBD camera,
Brain wave acquisition device, voice acquisition device, mouse-keyboard conventional peripheral devices, display and six part of controller are constituted.Described is aobvious
Show that device is attached by video transmission line and controller, the RGBD camera is carried out by video transmission line and controller
Connection, the brain wave acquisition device are attached by signal wire and controller, and the voice acquisition device passes through voice
Transmission line is attached with controller, and the mouse-keyboard conventional peripheral devices are attached by USB line and controller, described
Controller and ectoskeleton are attached by signal wire.
The RGBD camera includes but is not limited to Kinect camera, to capture patient facial region's information and patient
Gesture information provides face input and gesture input interface.
The brain wave acquisition device provides idea input control interface to acquire brain electric information.
The voice acquisition device includes but is not limited to noise reduction microphone, to acquire the voice messaging of patient, is provided
Speech input interface.
The mouse-keyboard conventional peripheral devices, to support the information inputs such as traditional text.
The display, to show feed back input information.
The controller that the controller, including but not limited to PC and ARM are composed, to acquire external input device
The information of total input, wherein mouse-keyboard conventional peripheral devices have highest priority, when mouse-keyboard selection allows other defeated
When entering equipment progress data input, other external equipments can just carry out the typing of information.
Claims (7)
1. a kind of man-machine interactive system of lower limb rehabilitation Therapy robot, including camera, brain wave acquisition device, voice collecting dress
It sets, mouse-keyboard and controller, it is characterised in that: the facial expression or limb action transmission of the camera acquisition operator
To controller, the EEG signals of the brain wave acquisition device acquisition operator are sent to controller, the voice collecting dress
The voice signal for setting acquisition operator is sent to controller, and the mouse-keyboard receives operator's input information and is sent to control
Device；The controller executes the mouse-keyboard of camera, brain wave acquisition device, voice acquisition device according to the priority of setting
Input, control ectoskeleton movement.
2. the man-machine interactive system of lower limb rehabilitation Therapy robot according to claim 1, it is characterised in that: display and
Camera is connect by video transmission line with controller, and the brain wave acquisition device is connect by signal wire with controller, institute
The voice acquisition device stated is connect by voice transmission line with controller, and the mouse-keyboard is connected by USB line and controller
It connects, the controller is connect with ectoskeleton by signal wire.
3. the man-machine interactive system of lower limb rehabilitation Therapy robot according to claim 1, it is characterised in that: described takes the photograph
As head includes but is not limited to Kinect camera.
4. the man-machine interactive system of lower limb rehabilitation Therapy robot according to claim 1, it is characterised in that: the language
Sound acquisition device includes but is not limited to noise reduction microphone.
5. the man-machine interactive system of lower limb rehabilitation Therapy robot according to claim 1, it is characterised in that: the control
The controller that device processed, including but not limited to PC and ARM are composed.
6. the man-machine interactive system of lower limb rehabilitation Therapy robot according to claim 1, it is characterised in that: described takes the photograph
Emergency processing input interface is used as arbitrarily setting one in head, brain wave acquisition device, voice acquisition device and mouse-keyboard.
7. the man-machine interactive system of lower limb rehabilitation Therapy robot according to claim 1, it is characterised in that: further include showing
Show device, connect controller, to show camera, brain wave acquisition device, voice acquisition device mouse-keyboard input information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721460418.6U CN208823336U (en) | 2017-11-03 | 2017-11-03 | A kind of man-machine interactive system of lower limb rehabilitation Therapy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201721460418.6U CN208823336U (en) | 2017-11-03 | 2017-11-03 | A kind of man-machine interactive system of lower limb rehabilitation Therapy robot |
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| CN208823336U true CN208823336U (en) | 2019-05-07 |
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| CN201721460418.6U Active CN208823336U (en) | 2017-11-03 | 2017-11-03 | A kind of man-machine interactive system of lower limb rehabilitation Therapy robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113456449A (en) * | 2021-08-18 | 2021-10-01 | 南京仙能医疗科技有限公司 | Warm low-frequency intelligent massage device and method thereof |
| CN113909743A (en) * | 2021-09-30 | 2022-01-11 | 北京博清科技有限公司 | Welding control method, control device and welding system |
-
2017
- 2017-11-03 CN CN201721460418.6U patent/CN208823336U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113456449A (en) * | 2021-08-18 | 2021-10-01 | 南京仙能医疗科技有限公司 | Warm low-frequency intelligent massage device and method thereof |
| CN113456449B (en) * | 2021-08-18 | 2024-06-11 | 南京仙能医疗科技有限公司 | Low-temperature low-frequency intelligent massage device and method thereof |
| CN113909743A (en) * | 2021-09-30 | 2022-01-11 | 北京博清科技有限公司 | Welding control method, control device and welding system |
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