WO2020211331A1 - 一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统 - Google Patents

一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统 Download PDF

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WO2020211331A1
WO2020211331A1 PCT/CN2019/114917 CN2019114917W WO2020211331A1 WO 2020211331 A1 WO2020211331 A1 WO 2020211331A1 CN 2019114917 W CN2019114917 W CN 2019114917W WO 2020211331 A1 WO2020211331 A1 WO 2020211331A1
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Prior art keywords
patient
arm
rehabilitation robot
compensatory
upper limb
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PCT/CN2019/114917
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English (en)
French (fr)
Inventor
谢龙汉
蔡思祺
李国峰
黄双远
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South China University of Technology SCUT
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South China University of Technology SCUT
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Priority to US17/600,122 priority Critical patent/US12144773B2/en
Publication of WO2020211331A1 publication Critical patent/WO2020211331A1/zh
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Definitions

  • the invention relates to the field of upper limb rehabilitation, and in particular to a rehabilitation robot training system for monitoring and inhibiting compensatory motion of upper limbs of hemiplegia.
  • Stroke also known as apoplexy, has the characteristics of high morbidity, disability, and mortality, which seriously endanger human health. More than half of stroke survivors have limb dysfunction, mainly hemiplegia, which seriously affects patients' daily work and quality of life. Clinical practice has proved that sports rehabilitation training is effective for the rehabilitation of hemiplegic upper limbs and can greatly improve the recovery of hemiplegic limbs, which has attracted widespread attention. Due to the large number of stroke patients and the severe shortage of rehabilitation therapists, rehabilitation robots have received extensive attention from many research institutions at home and abroad.
  • the present invention proposes a rehabilitation robot training system for monitoring and inhibiting compensatory motion of upper limbs of hemiplegia, and aims to solve the problem of lack of monitoring and inhibiting of compensatory motion in the existing rehabilitation training of hemiplegic upper limbs.
  • the upper limb rehabilitation robot assists the rehabilitation exercise training of the upper limbs of hemiplegia, and adjusts the movement speed, range of motion and auxiliary force of the training actions according to the results of compensatory movement monitoring, so as to suppress the compensatory movement of the upper limbs of hemiplegia; the position tracker is installed on the patient's arm.
  • the upper arm and forearm are used to collect the patient's arm position and posture data in real time and send it to the upper computer control center as the feedback of the control system of the rehabilitation robot; force feedback gloves are worn on the patient's hand to collect and transmit the patient's palm position and posture data in real time Enter the host computer control center as the feedback of the control system of the rehabilitation robot, and stimulate the patient's hand through vibration during games and tasks to provide the patient with tactile feedback; the pressure cushion is placed on the patient's seat to collect the patient's pressure in real time Distribute data and pass it to the upper computer control center as the feedback of the control system of the rehabilitation robot; the upper computer control center is used to store patient information, process the data, monitor whether the patient has modern compensation, etc.; interactive display screen placement In front of the patient, it is used to display the position and posture of the patient's upper limbs and the results of compensatory motion monitoring in real time, and at the same time guide the patient to restrain the compensatory motion through voice.
  • a rehabilitation robot training system for monitoring and inhibiting compensatory movement of upper limbs of hemiplegia including an upper computer control center, an interactive display screen, force feedback gloves, a position tracker, an upper limb rehabilitation robot end connector, an upper limb rehabilitation robot, a base, and a pressure cushion;
  • the upper limb rehabilitation robot is installed on the base;
  • the upper limb rehabilitation robot end connector is installed at each end of the two manipulator arms of the upper limb rehabilitation robot, and is worn on the upper arm and forearm of the patient's arm, respectively, for connecting the upper limb rehabilitation robot and the patient's arm, and drives the patient's arm during the rehabilitation training process movement;
  • the position tracker includes a first position tracker and a second position tracker; the first position tracker and the second position tracker are respectively installed on the forearm and upper arm of the patient's arm for real-time collection of patient arm position and posture data And pass the collected arm position and posture data to the upper computer control center as the feedback of the control system of the upper limb rehabilitation robot;
  • the force feedback glove is worn on the patient's hand, and is used to collect the position and posture data of the patient's palm in real time and transmit it to the upper computer control center as the feedback of the upper limb rehabilitation robot control system, and stimulate the patient's hand through vibration in games and tasks. Provide tactile feedback to patients;
  • the pressure cushion is placed on the patient's seat, and is used to collect the pressure distribution data of the patient in real time and transmit it to the upper computer control center as the feedback of the control system of the upper limb rehabilitation robot;
  • the upper computer control center is used to store the patient's information, process the data, and monitor and analyze whether the patient has a modern compensation action;
  • the interactive display screen is placed in front of the patient for real-time display of the position and posture information of the patient's upper limbs and the compensatory motion monitoring result, and at the same time instructs the patient to restrain the compensatory motion through voice.
  • the upper limb rehabilitation robot is respectively connected to the patient’s upper arm and forearm through the upper limb rehabilitation robot end connector to drive the patient’s arm for rehabilitation training; the upper limb rehabilitation robot adjusts the movement speed, the range of motion and the size of the assistance force that drives the patient’s arm training, Suppress the patient's compensatory movement.
  • the position and posture information of the patient's upper limbs includes the patient's arm position and posture data collected by the first position tracker and the second position tracker, and the patient's palm position and posture data collected by the force feedback glove.
  • the patient's arm position and posture data collected in real time by the first position tracker and the second position tracker include the position and posture of the forearm (x 1 , y 1 , z 1 , ⁇ 1x , ⁇ 1y , ⁇ 1z ) and The position and posture of the upper arm (x 2 , y 2 , z 2 , ⁇ 2x , ⁇ 2y , ⁇ 2z ); where x 1 , y 1 , z 1 represent the three-dimensional coordinates of the forearm, ⁇ 1x , ⁇ 1y , ⁇ 1z represent the forearm X 2 , y 2 , z 2 represent the three-dimensional coordinates of the upper arm, ⁇ 2x , ⁇ 2y , and ⁇ 2z represent the three-dimensional angle of the upper arm.
  • the upper computer control center first stores the patient's information, including age, gender, medical condition diagnosed by the doctor, arm position and posture data collected by the position tracker during the rehabilitation process, palm position and posture data, and pressure distribution data; Process the data, including the patient's arm position and posture data collected by the position tracker, the patient's palm position and posture data collected by the force feedback glove, and the patient pressure distribution data collected by the pressure cushion; finally, monitor and analyze whether the patient has a modern compensation movement;
  • the upper computer control center transmits the processed patient upper limb position and posture information to the interactive display screen for real-time feedback to the patient; the upper computer control center transmits the analyzed compensatory motion monitoring results to the interactive display screen for real-time feedback to the patient, reminding the patient to take the initiative Adjust the posture to restrain the compensatory movement; the upper limb control center uses the processed patient upper limb position and posture information and the compensatory movement monitoring result as the feedback of the upper limb rehabilitation robot control system, and adjusts the upper limb rehabilitation robot to drive the patient's arm training movement speed and movement The range and the size of the assisting force inhibit the patient's compensatory movement.
  • the compensatory motion monitoring result includes two parts: arm compensatory motion analysis and trunk compensatory motion analysis, the process is:
  • x 1 (unhealthy side), y 1 (unhealthy side), and z 1 (unhealthy side) are the three-dimensional coordinates of the healthy side of the forearm
  • x 1 (affected side), y 1 (affected side) and z 1 (affected side) are The three-dimensional coordinates of the affected side of the forearm
  • x 2 (unhealthy side), y 2 (unhealthy side) and z 2 (unhealthy side) are the three-dimensional coordinates of the healthy side of the upper arm
  • x 2 (affected side), y 2 (affected side) and z 2 (Imped side) is the three-dimensional coordinates of the affected side of the upper arm
  • P(i) is the pressure cushion to calculate the change in resistance value to obtain the pressure value of each pressure sensing point, Calculate the change in resistance of the pressure cushion to obtain the total pressure value of all pressure sensing points on the healthy side of the patient's trunk, Calculate the change of resistance value for the pressure cushion to obtain the total pressure value of all pressure sensing points on the affected side of the patient's trunk.
  • the input data of the interactive display screen comes from the upper computer control center, including the patient's upper limb position and posture information and compensatory motion monitoring results; on the one hand, the interactive display screen can display the patient's upper limb position and posture and compensatory motion monitoring results in real time. On the other hand, it can guide patients to actively suppress compensatory exercises through voice prompts; the interactive display screen stimulates patients' senses through vision and voice, and stimulates the enthusiasm and initiative of rehabilitation training.
  • the host computer control center is a computer.
  • the present invention has the following advantages and effects:
  • the rehabilitation robot training system for monitoring and inhibiting the compensatory movement of upper limbs of hemiplegia realizes the monitoring and restraining of compensatory movement during rehabilitation training of upper limbs of hemiplegia, helps to assist patients in correct movement patterns, and promotes the enhancement of hemiplegic upper limb movement function .
  • FIG. 1 is a schematic diagram of a rehabilitation robot training system for monitoring and inhibiting compensatory motion of upper limbs of hemiplegia according to an embodiment of the present invention.
  • host computer control center 1 interactive display 2, force feedback gloves 3, position tracker 4, first position tracker 4-1, second position tracker 4-1, upper limb rehabilitation robot end connector 5.
  • Upper limb rehabilitation robot 6. Base 7. Pressure cushion 8.
  • Fig. 2 is a schematic structural diagram of an end connector of an upper limb rehabilitation robot according to an embodiment of the present invention.
  • the upper part of the end connector 5-1 As shown in the figure: the upper part of the end connector 5-1, the inner ring of the end connector 5-2, the lower half of the end outer ring 5-3, and the end connector buckle 5-4.
  • the upper limb rehabilitation robot 6 is installed on the base 7;
  • the upper limb rehabilitation robot end connector 5 is installed at each end of the two mechanical arms of the upper limb rehabilitation robot 6 and is worn on the upper arm and forearm of the patient's arm, respectively, for connecting the upper limb rehabilitation robot and the patient's arm, and is driven during the rehabilitation training process Patient's arm movement;
  • the position tracker 4 includes a first position tracker 4-1 and a second position tracker 4-2; the first position tracker 4-1 and the second position tracker 4-2 are respectively installed on the arm of the patient
  • the forearm and upper arm are used to collect the patient's arm position and posture data in real time, and pass the collected arm position and posture data to the upper computer control center 1 as the feedback of the control system of the upper limb rehabilitation robot 6; the position tracker 4 can be selected as HTC VIVE tracking device.
  • the force feedback glove 3 is worn on the patient's hand, and is used to collect the position and posture data of the patient's palm in real time and transmit it to the upper computer control center 1 as the feedback of the control system of the upper limb rehabilitation robot 6, and stimulate the patient through vibration in games and tasks
  • the hand provides tactile feedback for the patient; among them, the force feedback glove 3 can be Manus VR Glove virtual reality gloves.
  • the pressure cushion 8 is placed on the patient’s seat for real-time collection of the patient’s pressure distribution data, and passed to the upper computer control center 1 as the feedback of the control system of the upper limb rehabilitation robot 6; in this embodiment, the selected pressure
  • the seat cushion is a #5350 model product of TEKSCAN's Body Pressure Measurement System (BPMS) series.
  • BPMS Body Pressure Measurement System
  • This pressure cushion is composed of a 32 ⁇ 32 array with a total of 1024 thin film pressure sensing points.
  • the electronic circuit is connected, and the device calculates the change in resistance to obtain each pressure.
  • the upper computer control center 1 is used to store the patient's information, process the data, and monitor and analyze whether the patient has a modern compensation action;
  • the interactive display screen 2 is placed in front of the patient for real-time display of the position and posture information of the patient's upper limbs and the results of compensatory motion monitoring, while instructing the patient to restrain the compensatory motion through voice.
  • the upper limb rehabilitation robot end connector 5 includes an upper end connector 5-1, an inner end connector 5-2, a lower end outer ring 5-3,
  • the end connector has four parts 5-4.
  • the upper half 5-1 of the end connector and the lower half 5-3 of the end outer ring are plugged together through the end connector buckle 5-4, which is convenient to use;
  • the end connector inner ring 5-2 is an inflatable inner ring , To ensure the comfort of the patient's arm.
  • the upper limb rehabilitation robot 6 is respectively connected to the patient's upper arm and forearm through the upper limb rehabilitation robot end connector 5 to drive the patient's arm for rehabilitation training; the upper limb rehabilitation robot 6 adjusts and drives the patient's arm training movement speed, range of motion and assistance The magnitude of the force inhibits the compensatory movement of the patient.
  • the position and posture information of the patient's upper limbs includes the position and posture data of the patient's arm collected by the first position tracker 4-1 and the second position tracker 4-2, and the position and posture data of the patient's palm collected by the force feedback glove 3.
  • the position and posture data of the patient's arm collected in real time by the first position tracker 4-1 and the second position tracker 4-2 include the position and posture of the forearm (x 1 , y 1 , z 1 , ⁇ 1x , ⁇ 1y , ⁇ 1z ) and the position and posture of the upper arm (x 2 ,y 2 ,z 2 , ⁇ 2x , ⁇ 2y , ⁇ 2z ); where x 1 ,y 1 ,z 1 represent the three-dimensional coordinates of the forearm, ⁇ 1x , ⁇ 1y , ⁇ 1z represent the three-dimensional angle of the forearm, x 2 , y 2 , and z 2 represent the three-dimensional coordinates of the upper arm, and ⁇ 2x , ⁇ 2y , and ⁇ 2z represent the three-dimensional angle of the upper arm.
  • the host computer control center 1 first stores the patient's information, including age, gender, medical condition diagnosed by the doctor, arm position and posture data collected by the position tracker during the rehabilitation process, palm position and posture data, and pressure distribution data; Then the data is processed, including the patient's arm position and posture data collected by the position tracker 4, the patient's palm position and posture data collected by the force feedback glove 3, and the patient pressure distribution data collected by the pressure cushion 8. Finally, whether the patient has a modern compensation action Monitoring analysis;
  • the upper computer control center 1 transmits the processed patient upper limb position and posture information to the interactive display screen 2 for real-time feedback to the patient; the upper computer control center 1 transmits the analyzed compensatory motion monitoring results to the interactive display screen 2 for real-time feedback to the patient , To remind the patient to actively adjust the posture and inhibit the compensatory motion; the upper-limb control center 1 uses the processed patient upper-limb position and posture information and the compensatory motion monitoring result as the feedback of the upper-limb rehabilitation robot 6 control system, and drives the patient by adjusting the upper-limb rehabilitation robot 6
  • the movement speed, range of movement and assistive force of arm training inhibit the patient's compensatory movement.
  • the compensatory motion monitoring result includes two parts: arm compensatory motion analysis and trunk compensatory motion analysis, the process is:
  • x 1 (unhealthy side), y 1 (unhealthy side), and z 1 (unhealthy side) are the three-dimensional coordinates of the healthy side of the forearm
  • x 1 (affected side), y 1 (affected side) and z 1 (affected side) are The three-dimensional coordinates of the affected side of the forearm
  • x 2 (unhealthy side), y 2 (unhealthy side) and z 2 (unhealthy side) are the three-dimensional coordinates of the healthy side of the upper arm
  • x 2 (affected side), y 2 (affected side) and z 2 (Imped side) is the three-dimensional coordinates of the affected side of the upper arm
  • P(i) is the pressure cushion to calculate the change in resistance value to obtain the pressure value of each pressure sensing point, Calculate the change in resistance of the pressure cushion to obtain the total pressure value of all pressure sensing points on the healthy side of the patient's trunk, Calculate the change of resistance value for the pressure cushion to obtain the total pressure value of all pressure sensing points on the affected side of the patient's trunk.
  • the input data of the interactive display screen 2 comes from the host computer control center 1, including the patient's upper limb position and posture information and the compensatory motion monitoring results; on the one hand, the interactive display screen 2 can display the patient's upper limb position and posture and compensatory motion in real time
  • the monitoring result on the other hand, can guide the patient to actively inhibit the compensatory movement through voice prompts; the interactive display screen 2 stimulates the patient's senses through vision and voice to stimulate the enthusiasm and initiative of rehabilitation training.
  • the host computer control center 1 is a computer.

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Abstract

一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，该系统包括上位机控制中心（1）、互动显示屏（2）、力反馈手套（3）、位置跟踪器（4）、上肢康复机器人末端连接器（5）、上肢康复机器人（6）、底座（7）、压力坐垫（8）。上肢康复机器人（6）的两个机械臂末端各安装一个上肢康复机器人末端连接器（5），分别佩戴于患者的上臂和前臂，带动手臂运动，上位机控制中心（1）存储和处理位置跟踪器（4）、力反馈手套（3）以及压力坐垫（8）实时采集患者的数据并对患者是否出现代偿动作进行监测分析，互动显示屏（2）实时显示患者上肢的位置姿态与代偿运动监测结果并用语音指导患者抑制代偿运动。该康复机器人训练系统实现了偏瘫上肢康复训练过程中代偿运动的监测与抑制，有助于辅助患者正确运动，促进偏瘫上肢运动功能的增强。

Description

一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统 技术领域
本发明涉及上肢康复领域，具体涉及一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统。
背景技术
脑卒中，又名中风，具有发病率高、致残率高、死亡率高的特点，严重危害人类健康。半数以上的脑卒中幸存者存在以偏瘫为主的肢体功能障碍，严重影响患者的日常工作和生活质量。临床实践证明运动康复训练对于偏瘫上肢的康复治疗是有效的，能够很大程度上提高偏瘫肢体的恢复程度，引起了普遍关注。由于中风患者数量过于庞大，康复治疗师严重匮乏，康复机器人得到了国内外众多研究机构的广泛关注。但是在康复机器人辅助患者进行训练的过程中，患者往往会通过其它的活动来补偿功能受损关节的运动，从而形成错误的运动模式，即代偿运动，主要包括肩肘关节间代偿和躯干代偿。代偿运动会导致患者形成错误的运动模式，影响患者手臂康复训练的效果，不利于患者运动功能的恢复。
发明内容
本发明提出了一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，目的是解决现有偏瘫上肢康复训练中缺乏对代偿运动监测及抑制的问题。上肢康复机器人辅助偏瘫上肢进行康复运动训练，并根据代偿运动监测结果调节训练动作的运动速度、运动范围和辅助力大小，实现抑制偏瘫上肢的代偿运动；位置跟踪器分别安装于患者手臂的上臂和前臂，用于实时采集患者手臂位置姿 态数据并传入上位机控制中心作为康复机器人的控制系统的反馈；力反馈手套佩戴于患者手部，用于实时采集患者手掌的位置姿态数据并传入上位机控制中心作为康复机器人的控制系统的反馈，并在游戏及任务中通过震动刺激患者手部，为患者提供触觉反馈；压力坐垫放置在患者的座椅上，用于实时采集患者的压力分布数据，并传入上位机控制中心作为康复机器人的控制系统的反馈；上位机控制中心用于存储患者的信息、对数据进行处理、对患者是否出现代偿动作进行监测等；互动显示屏放置在患者前方，用于实时显示患者上肢的位置姿态与代偿运动监测结果，同时通过语音指导患者抑制代偿运动。
本发明的目的至少通过如下技术方案之一实现。
一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，包括上位机控制中心、互动显示屏、力反馈手套、位置跟踪器、上肢康复机器人末端连接器、上肢康复机器人、底座、压力坐垫；
所述上肢康复机器人安装于底座上；
所述上肢康复机器人末端连接器在上肢康复机器人的两个机械臂末端各安装一个，分别佩戴于患者手臂的上臂和前臂，用于连接上肢康复机器人与患者手臂，在康复训练过程中带动患者手臂运动；
所述位置跟踪器包括第一位置跟踪器、第二位置跟踪器；所述第一位置跟踪器、第二位置跟踪器分别安装于患者手臂的前臂和上臂，用于实时采集患者手臂位置姿态数据并将所采集的手臂位置姿态数据传入上位机控制中心作为上肢康复机器人的控制系统的反馈；
所述力反馈手套佩戴于患者手部，用于实时采集患者手掌的位置姿态数据并传入上位机控制中心作为上肢康复机器人控制系统的反馈，并在游戏及任务 中通过震动刺激患者手部，为患者提供触觉反馈；
所述压力坐垫放置在患者的座椅上，用于实时采集患者的压力分布数据并传入上位机控制中心作为上肢康复机器人的控制系统的反馈；
所述上位机控制中心用于存储患者的信息、对数据进行处理、对患者是否出现代偿动作进行监测分析；
所述互动显示屏放置在患者前方，用于实时显示患者上肢的位置姿态信息与代偿运动监测结果，同时通过语音指导患者抑制代偿运动。
进一步地，所述上肢康复机器人通过上肢康复机器人末端连接器分别与患者的上臂和前臂相连，带动患者手臂进行康复训练；上肢康复机器人调整带动患者手臂训练的运动速度、运动范围和辅助力大小，抑制患者的代偿运动。
进一步地，所述患者上肢的位置姿态信息包括第一位置跟踪器、第二位置跟踪器采集的患者手臂位置姿态数据与力反馈手套采集的患者手掌位置姿态数据。
进一步地，所述第一位置跟踪器、第二位置跟踪器所实时采集的患者手臂位置姿态数据包括前臂的位置姿态(x 1,y 1,z 1,θ 1x,θ 1y,θ 1z)和上臂的位置姿态(x 2,y 2,z 2,θ 2x,θ 2y,θ 2z)；其中，x 1,y 1,z 1表示前臂的三维坐标，θ 1x,θ 1y,θ 1z表示前臂的三维角度，x 2,y 2,z 2表示上臂的三维坐标，θ 2x,θ 2y,θ 2z表示上臂的三维角度。
进一步地，所述上位机控制中心先存储患者的信息，包括年龄、性别、医生诊断的病情、康复过程中由位置跟踪器采集的手臂位置姿态数据、手掌的位置姿态数据、压力分布数据；然后对数据进行处理，包括位置跟踪器采集的患者手臂位置姿态数据，力反馈手套采集的患者手掌位置姿态数据，压力坐垫采 集的患者压力分布数据；最后对患者是否出现代偿动作进行监测分析；
上位机控制中心将处理得到的患者上肢位置姿态信息传输到互动显示屏实时反馈给患者；上位机控制中心将分析得到的代偿运动监测结果，传输到互动显示屏实时反馈给患者，提醒患者主动调整姿态，抑制代偿运动；上位机控制中心将处理后的患者上肢位置姿态信息和代偿运动监测结果作为上肢康复机器人控制系统的反馈，通过调整上肢康复机器人带动患者手臂训练的运动速度、运动范围和辅助力大小，抑制患者的代偿运动。
进一步地，所述代偿运动监测结果包括手臂代偿运动分析和躯干代偿运动分析两部分，过程为：
①根据患者手臂位置姿态数据分析患者的手臂代偿运动情况,计算患者分别用患侧与健侧完成相同动作时手臂的位置偏差D，包括前臂的位置偏差D 1和上臂的位置偏差D 2；D数值越大，代表患者的手臂代偿运动越严重；
Figure PCTCN2019114917-appb-000001
Figure PCTCN2019114917-appb-000002
D＝D 1+D 2；
其中x 1(健侧)、y 1(健侧)和z 1(健侧)为前臂健侧的三维坐标，x 1(患侧)、y 1(患侧)和z 1(患侧)为前臂患侧的三维坐标，x 2(健侧)、y 2(健侧)和z 2(健侧)为上臂健侧的三维坐标，x 2(患侧)、y 2(患侧)和z 2(患侧)为上臂患侧的三维坐标；
②根据患者的的压力分布数据分析患者的躯干代偿运动情况,计算患者分别用患侧与健侧完成相同动作时压力分布数据的相对偏差E；E数值越大，代表患者的躯干代偿运动越严重；
Figure PCTCN2019114917-appb-000003
其中i为压力感测点编号，i＝1,2,…,1024、P(i)为压力坐垫计算电阻阻值的变化而得出每个压力感测点的压力值、
Figure PCTCN2019114917-appb-000004
为压力坐垫计算电阻阻值的变化而得出患者躯干健侧所有压力感测点的压力值总和、
Figure PCTCN2019114917-appb-000005
为压力坐垫计算电阻阻值的变化而得出患者躯干患侧所有压力感测点的压力值总和。
进一步地，所述互动显示屏的输入数据来自上位机控制中心，包括患者上肢位置姿态信息与代偿运动监测结果；互动显示屏一方面能够实时显示患者上肢的位置姿态与代偿运动监测结果，另一方面能够通过语音提示，指导患者主动抑制代偿运动；互动显示屏通过视觉和语音刺激患者感官，激发康复训练的积极性与主动性。
进一步地，所述上位机控制中心为电脑。
与现有技术相比，本发明具有如下优点和效果：
本发明提供的偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，实现了偏瘫上肢康复训练过程中代偿运动的监测与抑制，有助于辅助患者正确运动模式，促进偏瘫上肢运动功能的增强。
附图说明
图1为本发明实施例的一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统示意图。
图中所示：上位机控制中心1、互动显示屏2、力反馈手套3、位置跟踪器4、第一位置跟踪器4-1、第二位置跟踪器4-1、上肢康复机器人末端连接器5、上肢康复机器人6、底座7、压力坐垫8。
图2为本发明实施例的上肢康复机器人末端连接器的结构示意图。
图中所示：末端连接器上半部5-1、末端连接器内圈5-2、末端外圈下半部 5-3、末端连接器卡扣5-4。
具体实施方式
以下结合附图和实例对本发明的具体实施作进一步说明，但本发明的实施和保护不限于此。需指出的是，以下若有未特别详细说明之过程，均是本领域技术人员可参照现有技术实现或理解的。
如图1所示，一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，包括上位机控制中心1、互动显示屏2、力反馈手套3、位置跟踪器4、上肢康复机器人末端连接器5、上肢康复机器人6、底座7、压力坐垫8；
所述的上肢康复机器人6安装于底座7上；
所述上肢康复机器人末端连接器5在上肢康复机器人6的两个机械臂末端各安装一个，分别佩戴于患者手臂的上臂和前臂，用于连接上肢康复机器人与患者手臂，在康复训练过程中带动患者手臂运动；
所述位置跟踪器4包括第一位置跟踪器4-1、第二位置跟踪器4-2；所述第一位置跟踪器4-1、第二位置跟踪器4-2分别安装于患者手臂的前臂和上臂，用于实时采集患者手臂位置姿态数据，并将所采集的手臂位置姿态数据传入上位机控制中心1作为上肢康复机器人6的控制系统的反馈；其中位置跟踪器4可以选用HTC VIVE追踪器。
所述力反馈手套3佩戴于患者手部，用于实时采集患者手掌的位置姿态数据并传入上位机控制中心1作为上肢康复机器人6控制系统的反馈，并在游戏及任务中通过震动刺激患者手部，为患者提供触觉反馈；其中力反馈手套3可以选用Manus VR Glove虚拟现实手套。
所述压力坐垫8放置在患者的座椅上，用于实时采集患者的压力分布数据， 并传入上位机控制中心1作为上肢康复机器人6的控制系统的反馈；本实施例中，所选压力坐垫为TEKSCAN公司Body Pressure Measurement System(BPMS)系列的#5350型号的产品。该款压力坐垫由32×32，共1024个薄膜压力感测点阵列组成，压力感测点受到压力作用时，就接通了电子回路，设备通过计算电阻阻值的变化而得出每个压力感测点的压力值P(i)，其中i＝1,2,…,1024；
所述上位机控制中心1用于存储患者的信息、对数据进行处理、对患者是否出现代偿动作进行监测分析；
所述互动显示屏2放置在患者前方，用于实时显示患者上肢的位置姿态信息与代偿运动监测结果，同时通过语音指导患者抑制代偿运动。
本实施例中，如图2所示，所述上肢康复机器人末端连接器5包括末端连接器上半部5-1、末端连接器内圈5-2、末端外圈下半部5-3、末端连接器卡扣5-4四部分。末端连接器上半部5-1和末端外圈下半部5-3通过末端连接器卡扣5-4相插接，方便使用；所述末端连接器内圈5-2为充气式内圈，保证患者手臂的舒适性。
进一步地，所述上肢康复机器人6通过上肢康复机器人末端连接器5分别与患者的上臂和前臂相连，带动患者手臂进行康复训练；上肢康复机器人6调整带动患者手臂训练的运动速度、运动范围和辅助力大小，抑制患者的代偿运动。
进一步地，所述患者上肢的位置姿态信息包括第一位置跟踪器4-1、第二位置跟踪器4-2采集的患者手臂位置姿态数据与力反馈手套3采集的患者手掌位置姿态数据。
进一步地，所述第一位置跟踪器4-1、第二位置跟踪器4-2所实时采集的患 者手臂位置姿态数据包括前臂的位置姿态(x 1,y 1,z 1,θ 1x,θ 1y,θ 1z)和上臂的位置姿态(x 2,y 2,z 2,θ 2x,θ 2y,θ 2z)；其中，x 1,y 1,z 1表示前臂的三维坐标，θ 1x,θ 1y,θ 1z表示前臂的三维角度，x 2,y 2,z 2表示上臂的三维坐标，θ 2x,θ 2y,θ 2z表示上臂的三维角度。
进一步地，所述上位机控制中心1先存储患者的信息，包括年龄、性别、医生诊断的病情、康复过程中由位置跟踪器采集的手臂位置姿态数据、手掌的位置姿态数据、压力分布数据；然后对数据进行处理，包括位置跟踪器4采集的患者手臂位置姿态数据，力反馈手套3采集的患者手掌位置姿态数据，压力坐垫8采集的患者压力分布数据；最后对患者是否出现代偿动作进行监测分析；
上位机控制中心1将处理得到的患者上肢位置姿态信息传输到互动显示屏2实时反馈给患者；上位机控制中心1将分析得到的代偿运动监测结果，传输到互动显示屏2实时反馈给患者，提醒患者主动调整姿态，抑制代偿运动；上位机控制中心1将处理后的患者上肢位置姿态信息和代偿运动监测结果作为上肢康复机器人6控制系统的反馈，通过调整上肢康复机器人6带动患者手臂训练的运动速度、运动范围和辅助力大小，抑制患者的代偿运动。
进一步地，所述代偿运动监测结果包括手臂代偿运动分析和躯干代偿运动分析两部分，过程为：
①根据患者手臂位置姿态数据分析患者的手臂代偿运动情况,计算患者分别用患侧与健侧完成相同动作时手臂的位置偏差D，包括前臂的位置偏差D 1和上臂的位置偏差D 2。D数值越大，代表患者的手臂代偿运动越严重。
Figure PCTCN2019114917-appb-000006
Figure PCTCN2019114917-appb-000007
D＝D 1+D 2；
其中x 1(健侧)、y 1(健侧)和z 1(健侧)为前臂健侧的三维坐标，x 1(患侧)、y 1(患侧)和z 1(患侧)为前臂患侧的三维坐标，x 2(健侧)、y 2(健侧)和z 2(健侧)为上臂健侧的三维坐标，x 2(患侧)、y 2(患侧)和z 2(患侧)为上臂患侧的三维坐标；
②根据患者的的压力分布数据分析患者的躯干代偿运动情况,计算患者分别用患侧与健侧完成相同动作时压力分布数据的相对偏差E。E数值越大，代表患者的躯干代偿运动越严重。
Figure PCTCN2019114917-appb-000008
其中i为压力感测点编号，i＝1,2,…,1024、P(i)为压力坐垫计算电阻阻值的变化而得出每个压力感测点的压力值、
Figure PCTCN2019114917-appb-000009
为压力坐垫计算电阻阻值的变化而得出患者躯干健侧所有压力感测点的压力值总和、
Figure PCTCN2019114917-appb-000010
为压力坐垫计算电阻阻值的变化而得出患者躯干患侧所有压力感测点的压力值总和。
进一步地，所述互动显示屏2的输入数据来自上位机控制中心1，包括患者上肢位置姿态信息与代偿运动监测结果；互动显示屏2一方面能够实时显示患者上肢的位置姿态与代偿运动监测结果，另一方面能够通过语音提示，指导患者主动抑制代偿运动；互动显示屏2通过视觉和语音刺激患者感官，激发康复训练的积极性与主动性。
进一步地，所述上位机控制中心1为电脑。
根据上述说明书的内容，本发明所属领域的技术人员还可以对上述实施方式进行变更和修改。因此，本发明并不局限于上面揭示和描述的具体实施方式，对本发明的一些修改和变更也应当落入本发明的权利要求的保护范围内。

Claims (8)

  1. 一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，其特征在于，包括上位机控制中心(1)、互动显示屏(2)、力反馈手套(3)、位置跟踪器(4)、上肢康复机器人末端连接器(5)、上肢康复机器人(6)、底座(7)、压力坐垫(8)；
    所述上肢康复机器人(6)安装于底座(7)上；
    所述上肢康复机器人末端连接器(5)在上肢康复机器人(6)的两个机械臂末端各安装一个，分别佩戴于患者手臂的上臂和前臂，用于连接上肢康复机器人与患者手臂，在康复训练过程中带动患者手臂运动；
    所述位置跟踪器(4)包括第一位置跟踪器(4-1)、第二位置跟踪器(4-2)；所述第一位置跟踪器(4-1)、第二位置跟踪器(4-2)分别安装于患者手臂的前臂和上臂，用于实时采集患者手臂位置姿态数据并将所采集的手臂位置姿态数据传入上位机控制中心(1)作为上肢康复机器人(6)的控制系统的反馈；
    所述力反馈手套(3)佩戴于患者手部，用于实时采集患者手掌的位置姿态数据并传入上位机控制中心(1)作为上肢康复机器人(6)控制系统的反馈，并在游戏及任务中通过震动刺激患者手部，为患者提供触觉反馈；
    所述压力坐垫(8)放置在患者的座椅上，用于实时采集患者的压力分布数据并传入上位机控制中心(1)作为上肢康复机器人(6)的控制系统的反馈；
    所述上位机控制中心(1)用于存储患者的信息、对数据进行处理、对患者是否出现代偿动作进行监测分析；
    所述互动显示屏(2)放置在患者前方，用于实时显示患者上肢的位置姿态信息与代偿运动监测结果，同时通过语音指导患者抑制代偿运动。
  2. 根据权利要求1所述的一种偏瘫上肢代偿运动监测与抑制的康复机器人 训练系统，其特征在于，所述上肢康复机器人(6)通过末端连接器(5)分别与患者的上臂和前臂相连，带动患者手臂进行康复训练；上肢康复机器人(6)调整带动患者手臂训练的运动速度、运动范围和辅助力大小，抑制患者的代偿运动。
  3. 根据权利要求1所述的一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，其特征在于，所述患者上肢的位置姿态信息包括第一位置跟踪器(4-1)、第二位置跟踪器(4-2)采集的患者手臂位置姿态数据与力反馈手套(3)采集的患者手掌位置姿态数据。
  4. 根据权利要求3所述的一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，其特征在于，所述第一位置跟踪器(4-1)、第二位置跟踪器(4-2)所实时采集的患者手臂位置姿态数据包括前臂的位置姿态(x 1,y 1,z 1,θ 1x,θ 1y,θ 1z)和上臂的位置姿态(x 2,y 2,z 2,θ 2x,θ 2y,θ 2z)；其中，x 1,y 1,z 1表示前臂的三维坐标，θ 1x,θ 1y,θ 1z表示前臂的三维角度，x 2,y 2,z 2表示上臂的三维坐标，θ 2x,θ 2y,θ 2z表示上臂的三维角度。
  5. 根据权利要求1所述的一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，其特征在于，所述上位机控制中心(1)先存储患者的信息，包括年龄、性别、医生诊断的病情、康复过程中由位置跟踪器采集的手臂位置姿态数据、手掌的位置姿态数据、压力分布数据；然后对数据进行处理，包括位置跟踪器(4)采集的患者手臂位置姿态数据，力反馈手套(3)采集的患者手掌位置姿态数据，压力坐垫(8)采集的患者压力分布数据；最后对患者是否出现代偿动作进行监测分析；
    上位机控制中心(1)将处理得到的患者上肢位置姿态信息传输到互动显示 屏(2)实时反馈给患者；上位机控制中心(1)将分析得到的代偿运动监测结果，传输到互动显示屏(2)实时反馈给患者，提醒患者主动调整姿态，抑制代偿运动；上位机控制中心(1)将处理后的患者上肢位置姿态信息和代偿运动监测结果作为上肢康复机器人(6)控制系统的反馈，通过调整上肢康复机器人(6)带动患者手臂训练的运动速度、运动范围和辅助力大小，抑制患者的代偿运动。
  6. 根据权利要求5所述的一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，其特征在于，所述代偿运动监测结果包括手臂代偿运动分析和躯干代偿运动分析两部分，过程为：
    ①根据患者手臂位置姿态数据分析患者的手臂代偿运动情况,计算患者分别用患侧与健侧完成相同动作时手臂的位置偏差D，包括前臂的位置偏差D 1和上臂的位置偏差D 2；D数值越大，代表患者的手臂代偿运动越严重；
    Figure PCTCN2019114917-appb-100001
    Figure PCTCN2019114917-appb-100002
    D＝D 1+D 2；
    其中x 1(健侧)、y 1(健侧)和z 1(健侧)为前臂健侧的三维坐标，x 1(患侧)、y 1(患侧)和z 1(患侧)为前臂患侧的三维坐标，x 2(健侧)、y 2(健侧)和z 2(健侧)为上臂健侧的三维坐标，x 2(患侧)、y 2(患侧)和z 2(患侧)为上臂患侧的三维坐标；
    ②根据患者的的压力分布数据分析患者的躯干代偿运动情况,计算患者分别用患侧与健侧完成相同动作时压力分布数据的相对偏差E；E数值越大，代表患者的躯干代偿运动越严重；
    Figure PCTCN2019114917-appb-100003
    其中i为压力感测点编号，i＝1,2,…,1024、P(i)为压力坐垫计算电阻阻值的 变化而得出每个压力感测点的压力值、
    Figure PCTCN2019114917-appb-100004
    为压力坐垫计算电阻阻值的变化而得出患者躯干健侧所有压力感测点的压力值总和、
    Figure PCTCN2019114917-appb-100005
    为压力坐垫计算电阻阻值的变化而得出患者躯干患侧所有压力感测点的压力值总和。
  7. 根据权利要求1所述的一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，其特征在于，所述互动显示屏(2)的输入数据来自上位机控制中心(1)，包括患者上肢位置姿态信息与代偿运动监测结果；互动显示屏(2)一方面能够实时显示患者上肢的位置姿态与代偿运动监测结果，另一方面能够通过语音提示，指导患者主动抑制代偿运动；互动显示屏(2)通过视觉和语音刺激患者感官，激发康复训练的积极性与主动性。
  8. 根据权利要求1所述的一种偏瘫上肢代偿运动监测与抑制的康复机器人训练系统，其特征在于，所述上位机控制中心(1)为电脑。
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