TWI805308B - Human-guided rehabilitation system with dynamic feedback - Google Patents

Abstract

A human-guided rehabilitation system with dynamic feedback is provided. The human-guided rehabilitation system includes a database and a wearable device. The database includes an ideal rehabilitation trajectory parameter. The wearable device includes a plurality of static sensing modules, a plurality of dynamic sensing modules, a calibration module, an image module, and a processing module. The static sensing modules and the dynamic sensing modules can obtain a plurality of static coordinate parameters and a plurality of dynamic trajectory parameters for a rehabilitated person, respectively. The calibration module can correct the ideal rehabilitation trajectory parameter as a guide trajectory parameter according to the static coordinate parameters. The image module presents a guidance image according to the guidance trajectory parameter. When an error value between the dynamic trajectory parameters and the guide trajectory parameter that are detected by the processing module or a physiological state parameter is greater than a standard threshold, the processing module corrects the guidance trajectory parameter according to an offset of the error value compared with the guidance trajectory parameter. Accordingly, the human-guided rehabilitation system can achieve personalized and effective rehabilitation, and can save costs.

Description

Simulator-guided rehabilitation system with dynamic feedback

The invention relates to a rehabilitation system, in particular to a dynamic feedback-type simulated human-guided rehabilitation system.

In the traditional rehabilitation course, the rehabilitation therapist needs to guide the rehabilitation patient one-on-one to complete the rehabilitation movements, so that the injured part of the rehabilitation patient can gradually restore the ideal activity function. However, since the rehabilitation course requires the rehabilitation person to perform multiple rehabilitation actions repeatedly for a long period of time, and the rehabilitation therapist also needs to moderately adjust the rehabilitation movements (such as posture, range, Intensity, etc.), resulting in a huge consumption of labor costs in the entire rehabilitation course.

Although, in recent years, there have been developed alternatives to "use rehabilitation robots to guide the rehabilitators to perform rehabilitation actions", but the overall cost of the existing rehabilitation robots is high, and they cannot detect the rehabilitation status of the rehabilitators in real time to give correctness feedback, which limits the opportunity for the rehabilitated person to achieve (self-)rehabilitation at home.

Therefore, the inventor believes that the above-mentioned defects can be improved, Naite devoted himself to research and combined with the application of scientific principles, and finally proposed an invention with reasonable design and effective improvement of the above-mentioned defects.

The technical problem to be solved by the present invention is to provide a dynamic feedback simulation human-guided rehabilitation system for the deficiencies of the prior art.

The embodiment of the present invention discloses a simulated human-guided rehabilitation system with dynamic feedback, including: a database containing parameters of an ideal rehabilitation trajectory; and a wearable device for a rehabilitation person to wear, the wearable device It includes: a plurality of static sensing modules, which can obtain a plurality of static coordinate parameters of each part of the rehabilitation person relative to the three-dimensional space; a correction module, which connects the plurality of static sensing modules and the The database, the correction module corrects the ideal rehabilitation trajectory parameters into a guide trajectory parameter according to a plurality of the static coordinate parameters; an image module, connected to the database, the image module according to the The guide track parameters present a guide image; a plurality of dynamic sensing modules can obtain a dynamic change parameter (or a physiological change parameter) of each part of the rehabilitation person relative to the coordinates of time and three-dimensional space during the dynamic state ); and a processing module connected to a plurality of the dynamic sensing modules and the database, the processing module can detect the dynamic change parameters and the guide trajectory parameters; wherein, when the dynamic When an error value between the change parameter and the guide trajectory parameter (or the physiological change parameter) is greater than a standard threshold value, the processing module The displacement modifies the guide trajectory parameters to replace the original guide trajectory parameters.

In summary, the simulated human-guided rehabilitation system with dynamic feedback disclosed in the embodiment of the present invention can correct the ideal rehabilitation trajectory parameters according to a plurality of static coordinate parameters by the correction module as follows: The guide track parameter" and "when the error value between the dynamic change parameter and the guide track parameter is greater than the standard threshold value, the processing module compares the error value with the The design of “correcting the guiding trajectory parameters” by the offset of the guiding trajectory parameters” enables the processing module to modify the guiding trajectory parameters in real time according to the body shape and rehabilitation conditions of the rehabilitation person, so that When the rehabilitation person enters the immersive virtual environment through the image module, he can guide the rehabilitation person to perform personalized rehabilitation according to the guide image, thereby realizing personalized and effective rehabilitation and saving cost and other effects.

For enabling a further understanding of the features and technical content of the present invention, please refer to the following The detailed description and drawings related to the present invention, however, the provided drawings are only for reference and illustration, and are not intended to limit the present invention.

100, 100': Simulator-guided rehabilitation system

1: Database

2: Wearable device

21: Static sensing module

22: Calibration module

23: Image module

24: Dynamic sensing module

25: Processing Module

26A, 26B: auxiliary modules

261A: traction unit

261B: Stimulation unit

262A, 262B: drive unit

27: Physiological sensing module

P: rehabilitation person

R: guide image

FIG. 1 is a schematic circuit block diagram of a human-guided rehabilitation system according to the first embodiment of the present invention.

FIG. 2 is a schematic diagram of the simulated human-guided rehabilitation system being worn on a rehabilitation person according to the first embodiment of the present invention.

FIG. 3 is a schematic diagram of a rehabilitation person's calf moving to a guide image according to the first embodiment of the present invention.

FIG. 4 is a schematic circuit block diagram of a human-guided rehabilitation system according to a second embodiment of the present invention.

FIG. 5 is another schematic circuit block diagram of the simulator-guided rehabilitation system according to the second embodiment of the present invention.

The following is a specific example to illustrate the implementation of the "Dynamic Feedback Simulated Human Guidance Rehabilitation System" disclosed by the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification . The present invention can be implemented or applied through other different specific embodiments, and various modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, which is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention.

It should be understood that although terms such as "first", "second", and "third" may be used herein to describe various elements or signals, these elements or signals should not be limited by these terms. These terms are mainly used to distinguish one element from another element, or one signal from another signal. In addition, the term "or" used herein may include any one or a combination of more of the associated listed items depending on the actual situation.

In addition, in the following description, if it is pointed out that please refer to the specific drawing or as shown in the specific drawing, it is only used to emphasize in the subsequent description, and most of the relevant content described above appears in the specific drawing , but does not limit the subsequent description to only those specific drawings that may be referred to.

[first embodiment]

Referring to FIG. 1 to FIG. 2 , this embodiment provides a simulated human-guided rehabilitation system 100 with dynamic feedback. As shown in FIG. 1 and FIG. 2, the simulated human-guided rehabilitation system 100 includes a database 1 and a wearable device 2 connected to the database 1, and the wearable device 2 can be used to provide a rehabilitation person P wear it, and let the rehab person P enter into an immersive virtual reality image (virtual reality; VR), the database 1 provides the wearable device 2 with a personalized and real-time corrected guide track to guide (or Guide) the rehabilitation person P to perform the optimal rehabilitation action.

In other words, any rehabilitation system that does not "provide the rehabilitation person P with a personalized and real-time guidance track for rehabilitation by using virtual reality images" is not the simulated human-guided rehabilitation system 100 referred to in the present invention. . Next, the components and their connections of the simulator-guided rehabilitation system 100 are introduced as follows.

As shown in FIG. 1 , the database 1 in this embodiment may be a cloud storage device or a physical storage device (such as a solid state disk), but the present invention is not limited thereto. The database 1 includes a rehabilitation data, and the rehabilitation data has an ideal rehabilitation trajectory parameter.

Specifically, the rehabilitation data is an ideal rehabilitation course planned according to different rehabilitation parts, age, injury degree, etc., and the ideal rehabilitation course may include at least An ideal movement profile for a rehabilitation exercise. When the ideal movement trajectory is digitally converted and stored in the database 1, it becomes an ideal rehabilitation trajectory parameter.

As shown in FIG. 1 and FIG. 2, the wearable device 2 is used to be worn by the rehabilitation person P, and the wearable device 2 can provide the rehabilitation person P to enter an immersive virtual reality image, and At the same time, various parameters of the rehabilitation person P in the three-dimensional space are obtained for motion guidance and motion correction.

Specifically, in this embodiment, the wearable device 2 includes a plurality of static sensing modules 21 configured on the body of the rehabilitation person P, and connects a plurality of the static sensing modules 21 to the A correction module 22 of the database 1, an image module 23 connected to the database 1, a plurality of dynamic sensing modules 24 configured on the body of the rehabilitation person P, and a plurality of the A motion sensing module 24 and a processing module 25 of the database 1 .

As shown in Figures 1 and 2, the plurality of static sensing modules 21 in this embodiment may be gyroscopes or other devices with three-dimensional space sensing, and are arranged on the joints of the rehabilitation person P , but the present invention is not limited thereto. A plurality of the static sensing modules 21 can each obtain a static coordinate parameter of each part of the person P in static state relative to a three-dimensional space (that is, each of the static sensing modules 21 has one of the static coordinate parameters).

The correction module 22 in this embodiment is a device with a computing function (such as a microprocessor), and the correction module 22 can correct the parameters of the ideal rehabilitation trajectory according to a plurality of the static coordinate parameters is a guide trajectory parameter.

Specifically, the correction module 22 can obtain any two of the static coordinate parameters, and the correction module 22 can calculate the body shape data corresponding to the P part of the rehabilitation person corresponding to the two aforementioned static coordinate parameters , so that the parameters of the ideal rehabilitation trajectory are adjusted to a guiding trajectory suitable for the body shape of the rehabilitation person P (that is, the trajectory used to guide the rehabilitation person P to perform rehabilitation).

)。最後，所述校正模組22在依據實際部位的數據(例如：小腿長度45.5公分)校正所述理想復健軌跡參數校正為所述指引軌跡參數，亦即所述指引軌跡參數是依據所述復健者P的身型所調整，從而提供個人化的復健指引。當然，所述復健者的其他部位也是如此做調整。 For example, assuming that the X-axis and the Y-axis are respectively defined as extending along the ground and perpendicular to each other, and the Z-axis is the height direction of the ground, the correction module 22 can first pass through a plurality of the static sensing modules 21. Initialize coordinate parameters (for example: confirm that the rehabilitation person is in the X-axis, Y-axis and Z-axis of the environment, and define the origin). Taking the adjustment of the lower leg of the rehabilitation person P as an example (as shown in FIG. 3 ), the calibration module 22 obtains the results obtained by the two static sensing modules located at the ankle and knee of the rehabilitation person P. The static coordinate parameters provided. Here, it is assumed that the static coordinate parameter corresponding to the ankle is (2, 3, 10), and the static coordinate parameter corresponding to the knee is (2, 10, 55). The correction module 22 can analyze (for example: classify and screen based on big data) the two static coordinate parameters to obtain the calf part corresponding to the rehabilitation person P, and further calculate the calf length as 45.5 cm (i.e.,

). Finally, the correction module 22 calibrates the ideal rehabilitation trajectory parameters to the guide trajectory parameters according to the data of the actual part (for example, the calf length is 45.5 cm), that is, the guide trajectory parameters are based on the rehabilitation trajectory parameters. The body shape of the athlete P is adjusted to provide personalized rehabilitation guidance. Of course, other parts of the rehabilitation person are also adjusted in the same way.

As shown in FIG. 1 and FIG. 2 , the image module 23 may be VR glasses in this embodiment, but the present invention is not limited thereto. The image module 23 can present a guide image R (as shown in FIG. 3 ) in the virtual reality image according to the guide trajectory parameters. That is to say, taking the perspective of the rehabilitation person P wearing the image module 23 as an example, the rehabilitation person P will see a virtual environment, and a guiding track (i.e. , the guide image R) to guide the rehabilitation person P to follow the guide trajectory. The guide trajectory may be a light trajectory, a hand guide of a virtual person, etc., but the present invention is not limited thereto.

The plurality of dynamic sensing modules 24 in this embodiment may be gyroscopes or other devices with three-dimensional space sensing, and are arranged on the joints of the rehabilitation person P, that is, a plurality of the dynamic sensing modules 24 In practice, the measurement module 24 can be integrated into a plurality of the static sensing modules 21 respectively, but the present invention is not limited thereto. A plurality of the dynamic sensing modules 24 can obtain the P is a dynamic change parameter between the coordinates of each part relative to time and three-dimensional space during dynamic time.

For example, assuming that the rehabilitation person P sees the guiding image R as swinging his ankle in the virtual reality image and the rehabilitation person P moves accordingly, the dynamic sensing module 24 corresponding to the ankle can A plurality of coordinate parameters corresponding to the ankle are obtained according to the time axis, and one dynamic change parameter (that is, the dynamic track of the ankle of the rehabilitation person P) is formed.

As shown in FIG. 1, the processing module 25 is a device (such as a microprocessor) with a computing function in this embodiment, that is, the processing module 25 can be combined with the calibration module in practice. 22 for integration, but the present invention is not limited thereto. The processing module 25 can detect the dynamic change parameter and the guide track parameter, wherein, when an error value between the dynamic change parameter and the guide track parameter is greater than a standard threshold value, the The processing module 25 modifies the guide trajectory parameter according to an offset between the error value and the guide trajectory parameter to replace the original guide trajectory parameter.

That is to say, the processing module 25 can adjust the guidance trajectory parameters in real time and personalizedly according to the movement posture of the person P, so that the image module 23 can perform the following tasks in the virtual reality image. The guidance trajectory presented this time is more suitable for the rehabilitation situation of the rehabilitation person P.

For example, when the rehabilitation person has movement deviation due to pain during the rehabilitation process, the processing module 25 will calculate at least one of the dynamic change parameters and the guide trajectory parameters (that is, the ideal rehabilitation The error value appears in the track of the healthy action), for example: at the 10th second, the coordinates of the dynamic change parameter corresponding to the position and the guide track parameter are (20, 20, 20) and (1, 1 , 1), the error values of the rehabilitation person on the X-axis, Y-axis, and Z-axis at the 10th second are 19 respectively.

)。 When the processing module 25 detects that the error value is greater than the standard threshold value, the processing module 25 modifies the guide trajectory parameters according to the offset to replace the original guide trajectory parameters. For example: at the 10th second, the error values of the X-axis, Y-axis, and Z-axis are each 19, and the offset is 32 (that is,

).

In practice, the method of using the error value and the offset to correct the guidance trajectory parameters may be to adjust by adjusting a weighted value. The adjustment weighting value is preferably ±5~±10% of the offset. For example: assuming that the adjustment weighting value is +5%, the processing module 25 will adjust the guide trajectory parameters according to +5% of the offset, that is, at the tenth second, the offset +5% of the amount is 1.6, so the coordinates of the guidance trajectory parameters are adjusted from (1,1,1) to (2.6,2.6,2.6), but the present invention is not limited thereto.

[Second embodiment]

As shown in Fig. 4 and Fig. 5, the simulated human-guided rehabilitation system 100' with dynamic feedback of the second embodiment is similar to the simulated human-guided rehabilitation system 100 of the above-mentioned first embodiment, the same points of the two embodiments It will not be described in detail, but the difference between this embodiment and the simulation human-guided rehabilitation system 100' of the first embodiment mainly lies in: The wearable device 2 includes an auxiliary module connected to the processing module 25, and the auxiliary module can output a physical feedback according to the offset, so that the rehabilitation person P is reminded (or notified) ) action needs to be adjusted.

As shown in FIG. 5 , in an actual application, the auxiliary module 26A includes a traction unit 261A and a driving unit 262A connected to the traction unit 261A. The traction unit 261A can be a traction device composed of a bracket, an axle, and a traction rope, and the drive unit 262A (for example: a servo motor) can drive the traction unit 261A (the axle drives the traction rope) to output the physical Feedback is used to actively pull the movement of various parts of the person P and reduce the offset.

As shown in FIG. 5 , in another practical application, the auxiliary module 26B includes a stimulation unit 261B and a driving unit 262B connected to the stimulation unit 261B. The stimulation unit 261B can be at least one of a vibration module, a heating module, a current module, and a sound module, and the driving unit 262B (for example: a power supply device) can drive the stimulation unit 261B to output the physical Feedback is used to stimulate various parts of the rehabilitation person P for guidance. That is to say, the physical feedback may be at least one of vibration, current, sound, pain, and temperature change.

As shown in FIG. 5 , preferably, the wearable device 2 can also include a physiological sensing module 27 connected to the processing module 25, and the physiological sensing module 27 can sense the An initial physiological parameter of P and a body load parameter, the processing module 25 can adjust the standard threshold to be a margin threshold according to a variation between the initial physiological parameter and the body load parameter.

In practice, the physiological sensing module 27 can detect heartbeat, blood pressure, respiration rate, finger temperature, perspiration, myoelectricity, and peripheral blood flow when the rehabilitation person P wears the wearable device 2 , pupil, brain wave, muscle tension, and facial expression to obtain the initial physiological parameters, that is, the physiological sensing module 27 can increase or decrease the corresponding sensing module according to the situation.

For ease of understanding, the physiological sensing module 27 is described below as an example of a breathing sensing module, but the physiological sensing module 27 is not limited thereto. When the rehabilitation person P is just wearing the wearable device 2, the physiological sensing module 27 will sense the number of respirations per ten seconds (that is, the initial physiological parameter) of the rehabilitation person P at rest. ). Next, when the rehabilitation person P is undergoing rehabilitation, the physiological sensing module 27 can continuously sense the change of the respiration rate of the rehabilitation person P (that is, the body load parameter) for the The processing module 25 detects whether the ex-rehabilitation person P is in too much pain (ie, overloaded), and makes adjustments. Generally speaking, when the ex-rehabilitation person P suffers from excessive pain, the breathing frequency suddenly increases or decreases and exceeds 50% of a normal value.

For example: if the initial physiological parameter of the rehabilitation person P is 3 breaths per ten seconds (the average value of normal people is 3 to 4 breaths per ten seconds), and when the physiological sensing module 27 senses When it is detected that the body load parameter suddenly increases to 5 breaths per ten seconds, the processing module 25 will detect that the change is an increase of 66% of the initial physiological parameter, so that based on the change exceeding 50% to determine the occurrence of pain. Then, the processing module 25 will adjust the standard threshold value to the margin threshold value (wherein, the absolute value of the standard threshold value is greater than the absolute value of the margin threshold value) according to the change amount, thereby relaxing The postural standard degree of the rehabilitation person.

In yet another practical application, the database also stores the revised guidance trajectory parameters and the variation amount each time according to a time axis, so as to generate a history data. Further, the processing module 25 can also generate an ideal weighted value according to the history data, and the processing module 25 uses the precise weighted value to adjust the standard threshold value to an ideal threshold value, so as to improve the The postural standard degree of the rehabilitation person P.

Specifically, the history data can include a plurality of the dynamic change parameters of the rehab person P along the time axis, and when the plurality of the dynamic change parameters are at the corresponding time point, the guidance When the error values between trajectory parameters are all smaller than the standard threshold, the processing module 25 can reduce the standard threshold. Preferably, the standard threshold value is the absolute value of the standard threshold value reduced by 2% to 5% (that is, the precise weighted value), so that the rehabilitation person P needs more precise actions Only then can it be identified as a standard posture by the processing module 25, so as to improve the rehabilitation effect.

[Technical effects of the embodiments of the present invention]

In summary, the simulated human-guided rehabilitation system with dynamic feedback disclosed in the embodiment of the present invention can correct the ideal rehabilitation trajectory parameters according to a plurality of static coordinate parameters by the correction module as follows: the guide track parameter" and "when the error value between the dynamic change parameter and the guide track parameter is greater than the standard threshold value, the processing module The error value is compared with the offset of the guide trajectory parameter to correct the design of the guide trajectory parameter ", so that the processing module can real-time Modifying the parameters of the guide trajectory, so that when the rehabilitation person enters the immersive virtual environment through the image module, the rehabilitation person can be guided to perform personalized rehabilitation according to the guidance image, thereby realizing personalization And effective rehabilitation, and cost-saving effects.

The content disclosed above is only a preferred feasible embodiment of the present invention, and does not therefore limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

100: Simulation human-guided rehabilitation system

1: Database

2: Wearable device

21: Static sensing module

22: Calibration module

23: Image module

24: Dynamic sensing module

25: Processing Module

Claims (9)

A simulator-guided rehabilitation system with dynamic feedback, including: a database containing parameters of an ideal rehabilitation trajectory; and A wearable device for a rehabilitation person to wear, the wearable device includes: A plurality of static sensing modules, each of which can obtain a static coordinate parameter of each part of the rehabilitation person relative to the three-dimensional space when it is static; A correction module, connected to a plurality of the static sensing modules and the database, the correction module corrects the ideal rehabilitation trajectory parameter into a guide trajectory parameter according to the plurality of static coordinate parameters; an image module connected to the database, the image module presents a guide image according to the guide trajectory parameters; A plurality of dynamic sensing modules can obtain a dynamic change parameter between the coordinates of each part of the rehabilitation person relative to time and three-dimensional space during the dynamic; and A processing module, connected to a plurality of the dynamic sensing modules and the database, the processing module can detect the dynamic change parameters and the guidance trajectory parameters; wherein, when the dynamic change parameters and the When an error value between the guidance trajectory parameters is greater than a standard threshold value, the processing module corrects the guidance trajectory parameters according to an offset between the error value and the guidance trajectory parameters to replace The original said guidance track parameters. The simulation human-guided rehabilitation system with dynamic feedback as described in claim 1, wherein the wearable device includes an auxiliary module connected to the processing module, and the auxiliary module can be used according to the offset Output a physical feedback. The simulator-guided rehabilitation system with dynamic feedback as described in claim 2, wherein the auxiliary module includes: a traction unit for traction of various parts of the rehabilitation person; and A drive unit is connected to the traction unit, and the drive unit can drive the traction unit to output the physical feedback, so as to actively traction the movement of various parts of the rehabilitation person and reduce the offset. The simulator-guided rehabilitation system with dynamic feedback as described in claim 2, wherein the auxiliary module includes: a stimulation unit, which is used to generate the physical feedback as sensory stimulation to each part of the rehabilitation person; and A drive unit is connected to the stimulation unit, and the drive unit can drive the stimulation unit to output the physical feedback, so as to stimulate various parts of the rehabilitation person for guidance. The simulated human-guided rehabilitation system with dynamic feedback according to claim 4, wherein the physical feedback is at least one of vibration, current, sound, pain, and temperature change. The simulated human-guided rehabilitation system with dynamic feedback as described in claim 1, wherein, the wearable device further includes a physiological sensing module connected to the processing module, and the physiological sensing module can sense Measure an initial physiological parameter and a body load parameter of the rehabilitation person, and the processing module can adjust the standard threshold value to a margin according to a variation between the initial physiological parameter and the body load parameter threshold. As described in claim 6, the simulation human-guided rehabilitation system with dynamic feedback, wherein, the database stores the guided trajectory parameters and the variation after each correction according to the time axis, so as to generate a history material. The simulation human-guided rehabilitation system with dynamic feedback as described in claim 7, wherein, the processing module generates a precise weighted value according to the history data, and the processing module uses the precise weighted value to adjust The standard threshold. The simulation human-guided rehabilitation system with dynamic feedback as described in claim 1, wherein, the method for the processing module to use the error value and the offset to correct the guidance trajectory parameters is through an adjustment weighting value, and the adjustment weighted value is ±5-±10% of the offset.

Images