WO2021062851A1

WO2021062851A1 - Sensory integration dysfunction testing and training system based on virtual reality visual and auditory pathway

Info

Publication number: WO2021062851A1
Application number: PCT/CN2019/109780
Authority: WO
Inventors: 秦路; 王索刚; 张重阳; 李伟宽; 刘洛希
Original assignee: 浙江凡聚科技有限公司
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-04-08

Abstract

A sensory integration dysfunction testing and training system based on a virtual reality visual and auditory pathway, which solves the problems of designs being not sufficiently reasonable and the like in the prior art. The system comprises a hand force stroke acquisition module (11), a foot force stroke acquisition module (12), a force stroke data processing module (1) and a power supply module (2). The power supply module (2) is connected to a hand space position acquisition module (31), a foot space position acquisition module (32) and a space motion data processing module (3), respectively. Both the force stroke data processing module (1) and the space motion data processing module (3) are connected to a main control module (4); a virtual reality head-mounted module (7) and a virtual reality visual and auditory cognition task presentation module (71) are connected onto the main control module (4); and the main control module (4) is connected to a sensory integration test stage unit (8) and/or a sensory integration training stage unit (9).

Description

Sensory integration disorder testing and training system based on virtual reality audiovisual pathway

Technical field

The invention belongs to the technical field of virtual reality equipment, and in particular relates to a sensory integration disorder testing and training system based on virtual reality audiovisual pathways.

Background technique

Sensory integration is a function of the brain, and sensory integration disorders are a type of brain dysfunction, and can also be called learning disabilities. Sensory integration refers to the combination of sensory information input from various parts of the body's organs, and the brain is integrated and used to complete the response to the perception outside the body. Only through sensory integration, the different parts of the nervous system can coordinate the overall role of the individual to make contact with the environment smoothly; without sensory integration, the brain and body cannot develop in coordination. There are physiological reasons for this disorder, such as balance disorder caused by incorrect fetal position; tactile disorder caused by insufficient pressure of infants due to premature delivery or caesarean section; or incorrect medication and injection during pregnancy, which may affect the growth of children. In addition, there are environmental and man-made reasons for this disorder. For example, due to family and urbanization, children’s activities are reduced, and adults overprotect young children, resulting in incomplete information received by children; parents do not bring children, and there is little counseling. This results in insufficient sensory stimulation of the right brain of young children; after birth, the child learns to walk directly without letting the child go through the crawling stage, resulting in a vestibular balance disorder; children are not allowed to play with soil or sand, and are afraid of getting dirty, which results in a lack of tactile stimulation of young children; The use of baby walkers makes children’s vestibular balance and head support insufficient; parents’ requirements are too high, discipline is too strict, artificially causing children to be too stressed, and children’s free time is too little, causing children to be timid and unwilling to try. . Such problems can easily lead to poor academic performance, lack of focus on learning tasks, low class efficiency, lower grades, carelessness, and procrastination in homework. In the long run, children will become less self-confident and easy to rely on others. Therefore, the testing and training of sensory integration disorders can help parents and teachers understand the level of children’s sensory integration, intervene and train children with sensory integration disorders, or develop adaptive education and teaching methods, so as to better care for children and care for them. growing up.

In order to alleviate the problems existing in the existing technology, people have carried out long-term exploration and proposed various solutions. For example, the Chinese patent document discloses that the method in the utility model patent CN202324705U mainly designs a sensory integration training room for children with sensory integration disorders. Contains a series of physical training equipment. However, large training venues are required, equipment needs to be maintained regularly, and real-time monitoring by trainers is required to ensure the safety of children. For example, the method in the utility model patent CN203480724U mainly designs a baton specially designed for children with sensory integration disorders. For children with sensory integration disorders, exercise large and small muscles, train balance, vestibular sense, and exercise command. This method can exercise the unity of sensation and movement to a certain extent. However, the effect of training cannot be evaluated objectively and quantitatively. The invention patents CN1506128A and CN1506129A mainly design a child sensory integration training device that can be used to prevent sensory integration disorders. This method is similar to a multifunctional bed. The child lies on it to achieve sensory integration training by rolling and turning over. This method can enhance the perception of children’s sensory pathways to a certain extent, but still partly evaluates the effect of training objectively and quantitatively, and the equipment is mechanical equipment with high rotating parts. If it is not carefully maintained or without the guidance and supervision of the trainer, it has certain children. Security risks.

Therefore, there are still the following problems with the existing training methods for various sensory integration disorders.

First of all, the theories and mechanisms of the existing training methods for sensory integration disorders are not clear, and the invention is mainly focused on the design of machinery and devices. The causes, theories, training mechanisms and other aspects of sensory integration disorders have not been analyzed in detail. Sensory integration is a function of the brain, and sensory integration disorders are a type of brain dysfunction, and can also be called learning disabilities. Sensory integration refers to the combination of sensory information input from various parts of the body's organs, and the brain is integrated and used to complete the response to the perception outside the body. Only through sensory integration, the different parts of the nervous system can coordinate the overall role of the individual to make contact with the environment smoothly; without sensory integration, the brain and body cannot develop in coordination. There are physiological reasons for this disorder. There are also environmental and man-made reasons. Therefore, the design and training of sensory integration system must start with the brain function mechanism and related theories in order to hit the target of the problem.

Secondly, in the mechanism of information processing, human beings mainly use vision, hearing, touch and smell to perceive the world. Among them, the visual and auditory pathways receive and perceive information about 94%. The tactile sensation is about 4%. Therefore, the visual and auditory sense is the main information processing pathway of human beings, and the related research of brain science believes that the visual and auditory functions are not independent, and the visual and auditory functions of healthy people are interconnected. According to the form of the information processing channel, it can be divided into single-channel processing for vision and hearing or double-channel processing for mixed vision and hearing. The processing of information is also mainly reflected in the forms of these three audiovisual sensory pathways. As another sensory pathway, touch can provide more direct feedback of perception and control to human movement. Then sensory integration disorders are mainly caused by abnormalities in the three aspects of information processing: vision, hearing, and touch. Targeted training should start from these three sensory pathways.

Secondly, in terms of the mechanism of operation control, the precise characteristics of limb spatial movement can reflect the level of sensory integration ability. The measurement, comparison and analysis of paths in pre-set spatial movement tasks can reveal sensory integration problems. In addition, force operation can activate tactile perception, so use finger pressing and foot pedaling as operation control methods. Hand force combined with the stroke caused by the operation amplifies the activation of the tactile perception of force. Compared with hand movement, foot movement is more special. The completion of more precise force movement of the foot requires brain motor function control and related leg and foot muscles. The coordination of the group is higher. Aiming at the hand and foot force stroke operation, it can better exercise the sensory integration disorder.

Summary of the invention

The purpose of the present invention is to solve the above problems and provide a sensory integration disorder testing and training system based on the visual and auditory pathway of virtual reality.

In order to achieve the above objectives, the present invention adopts the following technical solutions: The sensory integration disorder testing and training system based on virtual reality audiovisual pathways is characterized in that the system includes a hand force stroke collection module and/or a foot force stroke collection module , The hand force stroke acquisition module and the foot force stroke acquisition module are respectively connected to the force stroke data processing module, and the hand force stroke acquisition module, the foot force stroke acquisition module and the force stroke data processing module are all connected to the force stroke data processing module. Connected to the power supply module, and the power supply modules are respectively connected with a hand space position acquisition module, a foot space position acquisition module, and a space motion data processing module, and the hand space position acquisition module and/or foot space The position acquisition module is respectively connected with the spatial motion data processing module, and the force stroke data processing module and the spatial motion data processing module are both connected to the main control module, and the virtual reality headset module is respectively connected to the main control module It is connected with the virtual reality visual and auditory cognitive task presentation module, and the main control module is connected with the sensory integration test phase unit and/or the sensory integration training phase unit.

In the above-mentioned sensory integration disorder test and training system based on virtual reality audiovisual pathways, the sensory integration test phase unit includes a normal model database module, a sensory integration test data analysis module and a report generation module connected to the main control module respectively; among them,

The sensory integration test data analysis module is configured to mainly realize the comparison of data of the same age and gender with the norm database in an audiovisual task environment to solve the sensory integration level parameters relative to the user of the norm data;

The report generation module is configured to automatically display the user's sensory integration level parameters according to a certain graphic structure, in the form of charts and texts, word or PDF documents, and automatically perform further analysis on the meaning and scores of the main parameters. Explanation.

The norm database module is configured to mainly store sensory integration parameters collected and statistic by the test system used by normal people of sensory integration. Among them, the norm database in the norm database module is distinguished by age and gender. Each year from 6 to 18 years old is a statistical data segment, and from 19 to 24 years old every two years is a statistical data segment, from 25 years old. There is a statistical data segment every five years until the age of 50, a statistical data segment from the age of 51 to 60, and a statistical data segment from the age of 61 years old. It includes a number of specific quotient parameters related to the visual and auditory channels: visual, auditory and sensory. The degree of similarity of spatial movement operation, the degree of similarity of visual and auditory foot-space movement operation, the accuracy of visual and auditory hand force stroke control, the accuracy of visual and auditory foot force stroke control, and the standard deviation parameter of the above quotient.

In the above-mentioned sensory integration disorder testing and training system based on virtual reality audiovisual pathways, the sensory integration training phase unit includes a sensory integration training program generation module and a sensory integration training process control module that are connected to the main control module, respectively, wherein,

The sensory integration training program generating module is configured to analyze the module result according to the sensory integration test data;

The sensory integration training process control module is configured to mainly realize the storage of the user's training program, the record of the program development, the history record of the completed training and the query function. Among them, the sensory integration training program generation module divides the sensory integration training programs into 100, 80, 60, 40, and 100, according to the results of the sensory integration level of “poor”, “average”, “good”, “excellent” and “excellent”. 20 times of five programs, each training includes 8 sub-training items, according to the first visual and auditory hand and foot space movement operation, and then visual and auditory hand and foot force stroke control operation sequence, each section 5 minutes, every two Rest for about 5 minutes in the middle of each session, and one training time is 1 hour.

In the above-mentioned sensory integration disorder testing and training system based on virtual reality audiovisual pathways, the virtual reality headset module is a headset capable of wearing virtual reality equipment and/or high-fidelity headsets; the virtual reality audiovisual cognition The task presentation module is a virtual reality headset, which mainly completes the presentation of immersive visual and auditory information.

In the above-mentioned sensory integration disorder testing and training system based on virtual reality audiovisual pathways, the hand force stroke acquisition module includes a handheld device, and the handheld device has a number of buttons corresponding to the positions of the fingers, and Each button is correspondingly connected to a force-stroke variable voltage output mechanism provided in the handheld device; the foot force-stroke acquisition module includes a base, on which a pedal is hinged, and the pedal is tilted on the base A force-stroke variable voltage output mechanism located below the upper end of the pedal is provided. The upper end of the pedal acts on the force-stroke variable voltage output mechanism and the output voltage of the force-stroke variable voltage output mechanism changes with the pedal stroke when the pedal is actuated.

In the above-mentioned sensory integration disorder testing and training system based on virtual reality audiovisual pathways, the force-stroke variable voltage output mechanism includes a first resistor and a second resistor that are vertically fixed on a base or a handheld device, so The first resistance element and the second resistance element are arranged in parallel with each other, and a spring and a connecting rod pressed between the springs are arranged between the two, and the lower end of the connecting rod is provided with a varistor conductive reed. Both ends of the varistor conductive reed are in electrical contact with the first resistor and the second resistor respectively, and the first resistor and the second resistor are respectively connected to the positive pole and the negative pole of the power supply module, and the first resistor is connected to the positive pole and the negative pole of the power supply module. A fixed-value resistor is arranged between a resistance element or a second resistance element and the power supply module, and the upper end of the connecting rod is connected with the upper end of the pedal and/or the button.

In the above-mentioned sensory integration disorder testing and training system based on virtual reality audiovisual pathways, the upper end of the connecting rod is provided with a spherical connecting end, the upper back of the pedal is provided with a connecting ring, and the foot force stroke collection The number of modules is two and they are set in parallel, one is for the left foot and the other is for the right foot; the number of the hand force and stroke acquisition modules is two and they are set in parallel, one of which is for the left hand and the other For right hand use.

In the above-mentioned sensory integration disorder testing and training system based on virtual reality audiovisual pathways, the force-stroke data processing module includes an Arduino chip or stm32 single-chip microcomputer based on Mega2560, mini or Nano architecture, and the force-stroke data processing module uses The analog signal of the voltage change of the force-stroke variable voltage output mechanism is converted into a digital signal, the analog-to-digital conversion accuracy is 10-16 bits, and the sampling rate is 500Hz; the force-stroke data processing module performs the current digital signal caused by the voltage change Kalman filter removes interference and noise signals in the acquisition process, and sends force stroke data to the main control module through a USB data cable or wireless Bluetooth protocol; the power supply module is a 3.3-5V DC power supply, and the power supply module is External DC power supply or USB interface connected to the main control module.

In the above-mentioned sensory integration disorder testing and training system based on virtual reality audiovisual pathways, the hand space position acquisition module and the foot space position acquisition module each include a box that is worn on the hands or feet through a strap A six-axis motion processing component with a three-axis acceleration sensor and a three-axis gyroscope sensor is arranged in the box body, which is used for hand or foot spatial motion parameter recording; the spatial motion data processing module includes the force The stroke data processing module includes an Arduino chip or stm32 microcontroller based on the Mega2560, mini or Nano architecture, which removes interference and noise signals during the acquisition process, and sends the force stroke data to the main control module through a USB data cable or wireless Bluetooth protocol.

In the above-mentioned sensory integration disorder testing and training system based on virtual reality audiovisual pathways, the main control module includes any one of a desktop computer, a notebook computer, an all-in-one computer, and a single-chip computer, and the main control module is connected with Speakers or earphones, the main control module is built-in or externally connected with any one of a display screen, a digital TV screen, an all-in-one screen, and a flat screen.

Compared with the existing technology, the advantage of the sensory integration disorder testing and training system based on the virtual reality audiovisual pathway is: based on the hand and foot tasks under the virtual reality audiovisual channel, the user wears a virtual reality device and passes through the system The visual and auditory instructions are sent out, and the hand and foot space position acquisition device measures and collects the operating parameters of the hands and feet in response to related tasks, so as to check the accuracy and fineness of the user's hand and foot movement. Then use the force and stroke acquisition device of the hands and feet to measure and collect the operating parameters of the hands and feet in response to related tasks. Thereby, the accuracy and fineness of the force stroke of the user's hand and foot movement can be checked. After the test, the system automatically solves a variety of sensory integration-related parameters, and compares them with the norm database of the same gender and age. And generate different levels of sensory integration training programs, so as to automatically and intelligently guide users to carry out training.

Description of the drawings

FIG. 1 is a schematic diagram of the composition structure of a sensory integration disorder training system based on virtual reality audiovisual pathways provided by an embodiment of the present invention;

2 is a schematic structural diagram of an immersive virtual reality headset provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a spatial position acquisition module provided by an embodiment of the present invention;

4 is a schematic structural diagram of a hand force stroke collection module provided by an embodiment of the present invention;

5 is a schematic diagram of the design principle of a hand force stroke acquisition module provided by an embodiment of the present invention;

6 is a schematic diagram of the structure of a foot force stroke collection module provided by an embodiment of the present invention;

7 is a schematic diagram of the design principle of the foot force stroke collection module provided by an embodiment of the present invention;

Figure 8 is a schematic diagram of visual hand space movement testing and training provided by an embodiment of the present invention;

9 is a schematic diagram of visual foot space movement test and training provided by an embodiment of the present invention;

10 is a schematic diagram of auditory hand space movement test and training provided by an embodiment of the present invention;

FIG. 11 is a schematic diagram of auditory foot space movement test and training provided by an embodiment of the present invention;

12 is a schematic diagram of visual hand force stroke control test and training provided by an embodiment of the present invention;

Figure 13 is a schematic diagram of visual foot force stroke control test and training provided by an embodiment of the present invention;

14 is a schematic diagram of auditory hand force stroke control test and training provided by an embodiment of the present invention;

15 is a schematic diagram of auditory foot force stroke control test and training provided by an embodiment of the present invention;

FIG. 16 is a flow chart of an audiovisual sensory integration test provided by an embodiment of the present invention;

Figure 17 is a flow chart of visual and auditory sensory integration training provided by an embodiment of the present invention;

In the figure, the force stroke data processing module 1, the hand force stroke collection module 11, the handheld device 111, the buttons 112, the foot force stroke collection module 12, the base 121, the pedal 122, the power supply module 2, the spatial movement data processing module 3, Hand space position acquisition module 31, foot space position acquisition module 32, main control module 4, force-stroke variable voltage output mechanism 5, first resistor 51, second resistor 52, spring 53, connecting rod 54, spherical connection Terminal 541, connecting ring 542, varistor conductive reed 55, fixed value resistor 56, box body 6, strap 61. Virtual reality headset module 7, virtual reality audiovisual cognitive task presentation module 71, sensory integration test phase unit 8, norm database module 81, sensory integration test data analysis module 82, report generation module 83, sensory integration training phase unit 9 , Sensory integration training program generation module 91, Sensory integration training process control module 92.

Detailed ways

The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

As shown in Figure 1, the present sensory integration disorder testing and training system based on virtual reality audiovisual pathways includes hand force stroke collection module 11 and/or foot force stroke collection module 12, hand force stroke collection module 11 and feet The force stroke acquisition module 12 is respectively connected to the force stroke data processing module 1, and the hand force stroke acquisition module 11, the foot force stroke acquisition module 12, and the force stroke data processing module 1 are all connected to the power supply module 2, and the power supply module 2 respectively The hand space position acquisition module 31, the foot space position acquisition module 32, and the space motion data processing module 3 are connected, and the hand space position acquisition module 31 and/or the foot space position acquisition module 32 are respectively connected to the space motion data processing module 3 are connected, and the force stroke data processing module 1 and the spatial motion data processing module 3 are both connected to the main control module 4, and the main control module 4 is respectively connected with a virtual reality headset module 7 and a virtual reality audiovisual cognitive task presentation module 71, and the main control module 4 is connected to the sensory integration test phase unit 8 and/or the sensory integration training phase unit 9.

Among them, the sensory integration test phase unit 8 here includes a norm database module 81, a sensory integration test data analysis module 82, and a report generation module 83 which are respectively connected to the main control module 4; among them, the main control module 4 and sensory integration test data analysis Module 82, normal model database module 81, report generation module 83 output terminals are connected,

The sensory integration test data analysis module 82 is configured to mainly realize the comparison of the same age and gender data with the norm database in the audiovisual task environment to solve the sensory integration level parameters relative to the norm data user;

The report generation module 83 is configured to automatically display the user's sensory integration level parameters according to a certain graphic structure, in the form of charts and texts, word or PDF documents, and automatically perform further analysis on the meaning and scores of the main parameters. And explanation.

The norm database module 81 is configured to mainly store sensory integration parameters collected and statistic by the test system used by the normal population of sensory integration; the norm database is distinguished by age and gender, and is one for each year from 6 to 18 years old. Statistics segment. From 19 to 24 years old every two years is a statistical data segment. From 25 to 50 years old, every five years is a statistical data segment. From 51 to 60 years old is a statistical data segment. From 61 years old and above as a statistical data segment. Including a number of specific quotient parameters related to the visual and auditory channels: visual and auditory sensation of hand space movement operation approximation, visual and auditory foot space movement operation similarity, visual and auditory hand force stroke control accuracy, visual and auditory feet The accuracy of force stroke control, and the standard deviation of the above quotient and other parameters.

Among them, the sensory integration training phase unit 9 here includes a sensory integration training program generation module 91 and a sensory integration training process control module 92 that are respectively connected to the main control module 4, wherein,

The sensory integration training program generation module 91 is configured to analyze the results of the sensory integration test data according to the module 82; according to the results of the sensory integration level of'poor','fair','good','excellent', and'excellent'. The sensory integration training program is divided into five programs: 100, 80, 60, 40, and 20. Each training includes 8 sub-training items, according to the sequence of visual and auditory hand and foot space movement operations, and then visual and auditory hand and foot force stroke control operations. Each session is 5 minutes, and every two sessions has about 5 rests. Minutes, one training time is about 1 hour.

The sensory integration training process control module 92 is configured to mainly realize the storage of the user's training program, the record of the program development, the history record of the completed training, and the query function.

As shown in FIG. 2, the virtual reality headset module 7 in this embodiment is a headset capable of wearing a virtual reality device and/or a high-fidelity headset; the virtual reality audiovisual cognitive task presentation module 71 is a virtual reality headset device, mainly Complete immersive visual and auditory information presentation. The virtual reality headset module: is a virtual reality device that can be worn on the head, such as a desktop-level HTC Vive series headset, an Oculus system headset; such as a mobile-level birdwatch and other devices. The presentation of auditory information is mainly realized by a high-fidelity headset; the virtual reality audiovisual task presentation module: mainly completes the presentation of immersive visual and auditory information. The specific device for visual information presentation is a virtual reality headset.

As shown in FIG. 3, the hand space position acquisition module 31 and the foot space position acquisition module 32 here each include a box body 6 that is worn on the hands or feet through a strap 61, and the main appearance is a lightweight plastic round box. , The box body 6 is provided with a six-axis motion processing component with a three-axis acceleration sensor and a three-axis gyroscope sensor, which is used for hand or foot space motion parameter recording.

Among them, the spatial motion data processing module 3 here includes the force stroke data processing module 1 includes an Arduino chip or stm32 microcontroller based on the Mega2560, mini or Nano architecture, to remove interference and noise signals during the acquisition process, through a USB data cable or wireless Bluetooth protocol Send the force stroke data to the main control module 4. Perform Kalman filtering on the spatial position digital signal, for example: Arduino based on Mega2560, mini or Nano architecture or stm32 microcontroller to remove interference and noise signals in the acquisition process.

As shown in Figure 4, the hand force stroke collection module here: the appearance is mainly a light material structure such as plastic, which is handheld and does not require the hand to be in a fixed posture. The hand force and stroke acquisition module 11 includes a handheld device 111. The handheld device 111 has a number of buttons 112 corresponding to the positions of the fingers, and each button 112 is connected to a force and stroke variable voltage set in the handheld device 111. Output mechanism 5: When each button 112 is applied 0-10 Newtons, the displacement distance is 0-20 milliseconds. The inside of the button 112 is a small sliding rheostat. Depending on the test scenario and accuracy, the resistance of the rheostat can be one of the following, 1K ohm-50K ohm.

As shown in Figure 5, the force-stroke variable voltage output mechanism 5 here includes a first resistor 51 and a second resistor 52 on the handheld device 111. The first resistor 51 and the second resistor 52 are arranged in parallel with each other and on the two sides. A spring 53 and a connecting rod 54 pressed between the springs 53 are arranged between the two. The lower end of the connecting rod 54 is provided with a varistor conductive reed 55. Both ends of the varistor conductive reed 55 are connected to the first resistor 51 and the first resistor respectively. The two resistance elements 52 are in electrical contact. The first resistance element 51 and the second resistance element 52 are respectively connected to the positive and negative poles of the power supply module 2, and there is a connection between the first resistance element 51 or the second resistance element 52 and the power supply module 2. The fixed value resistor 56 and the upper end of the connecting rod 54 are connected to the upper end of the button 112. The number of the hand force stroke collection modules 11 is two and they are arranged in parallel, one of which is for the left hand and the other is for the right hand. The working principle is that the hand holds the handheld device 111, and a finger presses the button 112 to generate a certain displacement distance, which changes the position of the varistor conductive reed 55, thereby changing the output resistance of the sliding rheostat. Each varistor circuit is in a voltage divider circuit. Due to the change of the resistance value, the voltage change on the fixed value resistor is generated. This voltage change is the output of the force stroke voltage analog parameter.

As shown in FIG. 6, the foot force stroke collection module 12 here includes a base 121. A pedal 122 is hinged on the base 121. The pedal 122 is tilted. The base 121 is provided with a force stroke variable voltage output located below the upper end of the pedal 122. In mechanism 5, the upper end of the pedal 122 acts on the force-stroke variable voltage output mechanism 5, and when the pedal 122 is actuated, the output voltage of the force-stroke variable voltage output mechanism 5 changes with the stroke of the pedal 122. Mainly ABS plastic structure, pedal type. When the pedal 122 is applied with 10-40 Newtons, the displacement distance is 0-50 milliseconds. The inside of the pedal is a small sliding rheostat. Depending on the test scenario and accuracy, the resistance of the rheostat can be one of the following, 1K ohm-100K ohm.

As shown in FIG. 7, the force-stroke variable voltage output mechanism 5 here includes a first resistor 51 and a second resistor 52 that are vertically fixed on the base 121, and the first resistor 51 and the second resistor 52 are arranged parallel to each other. And a spring 53 and a connecting rod 54 pressed between the springs 53 are provided between the two. The lower end of the connecting rod 54 is provided with a varistor conductive reed 55. The two ends of the varistor conductive reed 55 are connected to the first resistor respectively. 51 is in electrical contact with the second resistor 52, the first resistor 51 and the second resistor 52 are respectively connected to the positive and negative poles of the power supply module 2, and the first resistor 51 or the second resistor 52 is in contact with the power supply module 2 A fixed-value resistor 56 is arranged in between, and the upper end of the connecting rod 54 is connected with the upper end of the pedal 122.

Among them, the upper end of the connecting rod 54 is provided with a spherical connecting end 541, and the back of the upper end of the pedal 122 is provided with a connecting ring 542, and the number of the foot force and stroke collection modules 12 are two and arranged in parallel, one of which is used for the left foot and the other is used for the left foot. Use with the right foot; the working principle is that the foot is naturally placed on the pedal device, and the pedal is stepped to produce a certain displacement distance, which changes the position of the varistor slide, thereby changing the output resistance of the sliding rheostat. Each varistor circuit is in a voltage divider circuit. Due to the change of the resistance value, the voltage change on the fixed value resistor is generated. This voltage change is the output of the force stroke voltage analog parameter.

As shown in Figure 1, the force-stroke data processing module 1 here includes an Arduino chip or stm32 microcontroller based on the Mega2560, mini or Nano architecture. The force-stroke data processing module 1 is used for the analog signal of the voltage change of the force-stroke variable voltage output mechanism 5. Converted to digital signal, the accuracy of analog-to-digital conversion is 10-16 bits, the sampling rate is 500Hz; the force stroke data processing module 1 performs Kalman filtering on the current digital signal caused by the voltage change to remove the interference and noise signal in the acquisition process, through USB data cable or wireless bluetooth protocol sends force stroke data to main control module 4; the voltage changes collected by analog are passed through analog-to-digital conversion module, for example: Arduino based on Mega2560, mini or Nano architecture or ADC in stm32 core circuit board. It mainly completes the conversion of the analog signal of the voltage change caused by the change of the resistance value of the sliding rheostat into a digital signal. The precision of analog-to-digital conversion is 10-16 bits, and the sampling rate is 500Hz. Then the force stroke digital signal is Kalman filtered to remove the interference and noise signals in the acquisition process. The power supply module 2 is a 3.3-5V DC power supply, and the power supply module 2 is an external DC power supply or a USB interface connected to the main control module 4.

The main control module 4 here includes any one of a desktop computer, a notebook computer, an all-in-one computer, and a single-chip microcomputer. A speaker or earphone is connected to the main control module 4, and the main control module 4 is built-in or externally connected with a display screen, a digital TV screen, Any one of all-in-one screens and flat screens. It mainly completes the process control of visual and auditory tasks, the control of the presentation of visual and auditory tasks, the control of access to the norm database module, the control of the sensory integration test data analysis module, the control of the report generation module, the control of sensory integration training and other operations.

The working principle of this embodiment is as follows:

1. About the working principle of the sensory integration test phase:

The working principle of the visual and auditory task presentation in the sensory integration test phase:

1 The working principle of the visual hand space movement test during the test phase

The user binds a space position module with both arms.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. The text ‘right hand test’ appears in the user’s field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, which feels at a distance of 5-10 meters. It moves at a constant speed in front of the user and draws the motion trajectory. The trajectory will remain directly in front of the user. At this time, the ball will appear at the starting point of the trajectory. The user’s operating task is to use the right hand tied with the spatial position module to point to the small ball. In the virtual reality environment, the pointing will appear as a blue light. If the blue light refers to the small ball, the test starts, and the movement of the arm is controlled as much as possible. The ball moves accurately along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test is invalid and enter the next operation. After the right hand test, it is the left hand test. The text "Left Hand Test" appears in the user's field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and it feels at a distance of 5-10 meters. It moves at a constant speed in front of the user and draws the trajectory. The trajectory will remain directly in front of the user. At this time, the ball will appear at the starting point of the trajectory. The user’s operating task is to use the left hand tied with the spatial position module to point to the small ball. In the virtual reality environment, the pointing will appear as a blue light. If the blue light refers to the small ball, the test starts, and the movement of the arm is controlled as much as possible to make the blue light control. The ball moves accurately along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test is invalid and enter the next operation. The trajectory of the ball is different each time.

2 The working principle of the visual foot space movement test during the test phase

The user ties a space position module with each foot.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. On the ground of the user's field of vision, two selectable balls of different colors will appear in sequence, such as ‘red ball’ or ‘black ball’. The two balls only appear one at a time, and they are random. The ground moves at a constant speed in front of the user and draws the movement trajectory, the trajectory will remain on the ground. At this time, the ball will appear at the starting point of the trajectory. In the virtual reality environment, the user's right foot is represented as a red square, and the left foot is represented as a black square, which is the circumscribed square of the small ball. When a "red ball" appears, the user steps on with the right foot and drags the ball Move along the trajectory, when the ball reaches the end of the trajectory, and keep it for at least 500 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test is invalid and enter the next operation. When a ‘black ball’ appears, the user steps on with his left foot and drags the ball along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 500 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test is invalid and enter the next operation.

3 The working principle of the auditory hand space movement test in the test phase

The user binds a space position module with both arms.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. A scale will appear in the field of view to remind the user of the length of such a line segment. The text ‘right hand test’ appears in the user’s field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and commands are played in the high-fidelity headset, such as'the ball moves 5 meters from left to right'. The user's operating task is to point to the ball with the right hand tied to the spatial position module , In the virtual reality environment, the pointing appears as a blue light. If the blue light refers to the small ball, the test starts, and the movement of the arm is controlled as much as possible to make the blue light controlled ball operate according to the voice command. When the ball is controlled to move for a certain distance, it stops and keeps it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test is invalid and enter the next operation. After the right hand test, it is the left hand test. A scale will appear in the field of view to remind the user of the length of such a line segment. Then the text "Left Hand Test" appears in the user's field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and commands are played in the high-fidelity headset, such as'the ball moves 5 meters from left to right'. The user's operating task is to point to the ball with the left hand tied to the spatial position module , In the virtual reality environment, the pointing appears as a blue light. If the blue light refers to the small ball, the test starts, and the movement of the arm is controlled as much as possible to make the blue light controlled ball operate according to the voice command. When the ball is controlled to move for a certain distance, it stops and keeps it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test is invalid and enter the next operation. The trajectory of the ball is different each time.

4 The working principle of the auditory foot space exercise test during the test phase

The user ties a space position module with each foot.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. A scale will appear in the field of view to remind the user of the length of such a line segment. The text ‘right foot test’ appears in the user’s field of vision, and then the text disappears. Appears at random locations on the ground within the field of vision in front of the user. A round ball, playing instructions in the high-fidelity headset, such as'move the ball vertically forward 5 meters from here'. In the virtual reality environment, the user's right foot appears as a red square. Step on the ball and drag the ball Go to a position and hold it for at least 500 milliseconds before proceeding to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test is invalid and enter the next operation. After the right foot test, it is the left foot test. A scale will appear in the field of view to remind the user of the length of such a line segment. Then the text "Left Foot Test" appears in the user's field of vision, and then the text disappears. Appears at random locations on the ground within the field of vision in front of the user. A round ball, playing instructions in the high-fidelity headset, such as'move the ball 3 meters forward from here vertically'. In the virtual reality environment, the user’s left foot appears as a black square. Step on the ball and drag the ball Go to a position and hold it for at least 500 milliseconds before proceeding to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test is invalid and enter the next operation.

5 Working principle of visual hand force stroke control test during test phase

The user holds a hand force stroke module with both hands, and can use one of the five fingers of one hand to press the button as an operation.

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and a blackboard appears in the blackboard area. The small ball moves at a constant speed on the blackboard and draws its trajectory. The trajectory will remain on the blackboard. At this time, the ball will appear at the starting point of the trajectory. The user's operating task is to use the left and right hand force stroke modules to control the ball to move as accurately as possible along the trajectory. The user presses the button with his left hand to control the left and right movement of the small ball, and presses the button with the right hand to control the up and down movement of the small ball. When the ball reaches the end of the trajectory and keeps it for at least 100 milliseconds, this test is over, the blackboard is cleared, and the user releases the button to enter the next operation. If the user does not make the ball reach the end within 10 seconds or does not move the ball within 3 seconds, the virtual reality environment prompts that the test is invalid, the blackboard is cleared, and the next operation is started. The trajectory of the ball is different each time.

6 Working principle of visual foot force stroke control test during test phase

The user's left and right feet are naturally placed on the foot force stroke module, and the pedal is used as an operation.

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and a blackboard appears in the blackboard area. The small ball moves at a constant speed on the blackboard and draws its trajectory. The trajectory will remain on the blackboard. At this time, the ball will appear at the starting point of the trajectory. The user's operating task is to use the force stroke modules of the left and right feet to control the ball to move as accurately as possible along the trajectory. The user uses the left foot pedal to control the left and right movement of the ball, and the right foot pedal controls the up and down movement of the ball. When the ball reaches the end of the trajectory and keeps it for at least 100 milliseconds, the test is over, the blackboard is cleared, and the user releases the pedal to enter the next operation. If the user does not make the ball reach the end within 10 seconds or does not move the ball within 3 seconds, the virtual reality environment will prompt that the test is invalid, the blackboard will be cleared, and the next operation will begin. The trajectory of the ball is different each time.

7 The working principle of the auditory hand force stroke control test during the test phase

The user holds a hand force stroke module with both hands, and can use one of the five fingers of one hand to press a button as an operation.

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and there are left and right sides under the blackboard. The two small balls have a corresponding box in the middle. The user sits down and listens carefully to the instructions in the high-fidelity headset. The “left” or “right” played randomly by the voice command means that the left and right hands do the corresponding operations. The voice will continue for any time between “3000-5000” milliseconds. For example, when you hear “left”, quickly press the button with the left hand to make the left ball move from Move vertically from bottom to top to the upper box and keep the position. When the "left" voice disappears, immediately release the button; for example, when you hear "right", quickly press the button with your right hand to make the right ball go from bottom to top Move vertically into the upper box and keep the position. When the "right" voice disappears, immediately release the button. The test is over, the blackboard is cleared, and the user releases the button to enter the next operation. If the user does not have any ball displacement during the test time, the virtual reality environment prompts that the test is invalid, the blackboard is cleared, and the next operation is started. The length of each voice command is random.

8 The working principle of the auditory foot force stroke control test during the test phase

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and there are left and right sides under the blackboard. The two small balls have a corresponding box in the middle. The user sits down and listens carefully to the instructions in the high-fidelity headset. The'left' or'right' of the voice command randomly played represents the corresponding operation of the left and right feet. The voice will continue for any time between '3000-5000' milliseconds. For example, when you hear'left', quickly press the left foot on the corresponding pedal to make the left The ball moves vertically from bottom to top into the upper box and keeps its position. When the voice of "left" disappears, immediately release the pedal; for example, when you hear "right", quickly press the corresponding pedal with your right foot to make the right side small The ball moves vertically from bottom to top into the upper box and keeps its position. When the'right' voice disappears, immediately release the button. The test is over, the blackboard is cleared, and the user releases the pedal to enter the next operation. If the user does not have any ball displacement during the test time, the virtual reality environment prompts that the test is invalid, the blackboard is cleared, and the next operation is started. The length of each voice command is random.

Therefore, the working principle of the sensory integration disorder test in this embodiment: a round test includes 5 visual hand spatial movement tests, 5 visual foot spatial movement tests, 5 auditory hand spatial movement tests, and 5 auditory tests. Foot space movement test; 5 visual hand force stroke control tests, 5 visual foot force stroke control tests, 5 auditory hand force stroke control tests, 5 auditory foot force stroke control tests, a total of 40 tests . The sensory integration disorder test consists of two rounds.

Further, here is the working principle of the force stroke data processing module:

Force stroke operations are classified according to the visual and auditory sense, including visual hand and foot force stroke control accuracy, and auditory hand and foot force stroke control accuracy. And parameters such as the standard deviation of the above quotient.

Calculated as follows:

Visual control accuracy of hand and foot force stroke:

Average force stroke control completion path length/force stroke control completion time

Auditory control accuracy of hand and foot force stroke:

Average value 0.5×normalized force stroke control completion time/play command duration +0.5×normalized force stroke control ball path/force stroke control ball completion time

Working principle of spatial motion data processing module:

Spatial motion data processing is classified according to the visual and auditory senses, including visual hand and foot spatial motion operation approximation, and auditory hand and foot spatial motion operation approximation. And parameters such as the standard deviation of the above quotient.

Calculated as follows:

Approximation of visual hand and foot spatial movement operation:

Average space motion completion path length/space motion control completion time

Approximation of auditory hand and foot space movement operation

Average space motion completed path length/command actual path length

Then standardize the above data to make the value change range between 0-100, and according to the ratio of 0.25, the weighted sum is the comprehensive quotient of sensory integration. The next step is to access the corresponding norm data according to the user's gender and age, and compare and analyze the comprehensive quotient of sensory integration. Using the following formula, the standardized quotient value of the user relative to the norm data is obtained, the standardized quotient value=100+15*(user score-normal average value)/standard deviation. Among them, if the standardized quotient is 80-89 points, the user's score is below the average score of the person. Based on the difference, 90-109 points indicate that the score is the average score, which is recorded as average, and 110-119 points indicate that the score is higher than average. Scores are recorded as good, 120-129 points indicate higher scores and are recorded as excellent, and 130 points or more indicate super high scores, which are recorded as superior.

The working principle of sensory integration report generation:

It mainly realizes the automatic display of the user's sensory integration level parameters according to a certain graphic structure, in the form of charts and texts, word or PDF documents. In addition, further analysis and explanation of the significance of the main parameters and the scores will be done automatically.

2. About the working principle of sensory integration training stage:

It includes two parts: audiovisual hand and foot space exercise training and audiovisual hand and foot force stroke control training.

1. The working principle of visual hand space exercise training in the training phase

The user binds a space position module with both arms.

The visual environment created by the immersive virtual reality device is an empty environment with simple abstract ground and sky. The user is standing. The text "right hand training" appears in the user's field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and it feels at a distance of 5-10 meters. It moves at a constant speed in front of the user and draws the trajectory. The trajectory will remain directly in front of the user. At this time, the ball will appear at the starting point of the trajectory. The user’s operating task is to use the right hand tied with the spatial position module to point to the small ball. In the virtual reality environment, the pointing is expressed as a blue light. If the blue light refers to the small and medium ball, the training starts, control the arm movement as much as possible to make the blue light control. The ball moves accurately along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that this training is invalid and enter the next operation. After right-hand training, left-hand training. The text "Left Hand Training" appears in the user's field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and it feels at a distance of 5-10 meters. It moves at a constant speed in front of the user and draws the trajectory. The trajectory will remain directly in front of the user. At this time, the ball will appear at the starting point of the trajectory. The user’s operating task is to use the left hand tied with the spatial position module to point to the small ball. In the virtual reality environment, the pointing is shown as a blue light. If the blue light refers to the small and medium ball, the training starts, control the arm movement as much as possible to make the blue light control. The ball moves accurately along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that this training is invalid and enter the next operation. The trajectory of the ball is different each time. The cumulative training time is 5 minutes.

2. The working principle of visual foot space exercise training during the training phase

The user ties a space position module with each foot.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. On the ground of the user's field of vision, two selectable balls of different colors will appear in sequence, such as ‘red ball’ or ‘black ball’. The two balls only appear one at a time, and they are random. The ground moves at a constant speed in front of the user and draws the trajectory. The trajectory will remain on the ground. At this time, the ball will appear at the starting point of the trajectory. In the virtual reality environment, the user's right foot is represented as a red square, and the left foot is represented as a black square, which is the circumscribed square of the small ball. When a "red ball" appears, the user steps on with his right foot and drags the ball Move along the trajectory, when the ball reaches the end of the trajectory, and keep it for at least 500 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that this training is invalid and enter the next operation. When a "black ball" appears, the user steps on with his left foot and drags the ball along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 500 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that this training is invalid and enter the next operation. The cumulative training time is 5 minutes.

3. Working principle of auditory hand space exercise training in the training phase

The user binds a space position module with both arms.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. A scale will appear in the field of view to remind the user of the length of such a line segment. The text "right hand training" appears in the user's field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and commands are played in the high-fidelity headset, such as'the ball moves 5 meters from left to right'. The user's operating task is to point to the ball with the right hand tied to the spatial position module , In the virtual reality environment, the pointing is shown as a blue light. If the blue light refers to the small ball, the training starts, control the arm movement as much as possible to make the blue light controlled ball follow the voice instructions. When the ball is controlled to move for a certain distance, it stops and keeps it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that this training is invalid and enter the next operation. After right-hand training, left-hand training. A scale will appear in the field of view to remind the user of the length of such a line segment. Then the text "Left Hand Training" appears in the user's field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and commands are played in the high-fidelity headset, such as'the ball moves 5 meters from left to right'. The user's operating task is to point to the ball with the left hand tied to the spatial position module , In the virtual reality environment, the pointing is shown as a blue light. If the blue light refers to the small ball, the training starts, control the arm movement as much as possible to make the blue light controlled ball follow the voice instructions. When the ball is controlled to move for a certain distance, it stops and keeps it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that this training is invalid and enter the next operation. The trajectory of the ball is different each time. The cumulative training time is 5 minutes.

4. Working principle of auditory foot space exercise training in the training phase

The user ties a space position module with each foot.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. A scale will appear in the field of view to remind the user of the length of such a line segment. The text "Right Foot Training" appears in the user's field of vision, and then the text disappears. Appears at random locations on the ground within the field of vision in front of the user. A round ball, playing instructions in the high-fidelity headset, such as'move the ball vertically forward 5 meters from here'. In the virtual reality environment, the user's right foot appears as a red square. Step on the ball and drag the ball Go to a position and hold it for at least 500 milliseconds, and enter the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that this training is invalid and enter the next operation. After right foot training, left foot training. A scale will appear in the field of view to remind the user of the length of such a line segment. Then the text "Left Foot Training" appears in the user's field of vision, and then the text disappears. Appears at random locations on the ground within the field of vision in front of the user. A round ball, playing instructions in the high-fidelity headset, such as "move the ball 3 meters forward from here". In the virtual reality environment, the user’s left foot appears as a black square. Step on the ball and drag the ball Go to a position and hold it for at least 500 milliseconds, and enter the next operation. If the user does not make the ball reach the end within 10 seconds or does not move the ball within 3 seconds, the virtual reality environment prompts that this training is invalid and enter the next operation. The trajectory of the ball is different each time. The cumulative training time is 5 minutes.

5. Working principle of visual hand force stroke control training during the training phase

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and a blackboard appears in the blackboard area. The small ball moves at a constant speed on the blackboard and draws its trajectory. The trajectory will remain on the blackboard. At this time, the ball will appear at the starting point of the trajectory. The user's operating task is to use the left and right hand force stroke modules to control the ball to move as accurately as possible along the trajectory. The user presses the button with his left hand to control the left and right movement of the small ball, and presses the button with the right hand to control the up and down movement of the small ball. When the ball reaches the end of the trajectory and keeps it for at least 100 milliseconds, the training is over, the blackboard is cleared, and the user releases the button to enter the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment will prompt that this training is invalid, the blackboard will be cleared, and the next operation will begin. The trajectory of the ball is different each time. The cumulative training time is 5 minutes.

6. The working principle of visual foot force stroke control training during the training phase

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and a blackboard appears in the blackboard area. The small ball moves at a constant speed on the blackboard and draws its trajectory. The trajectory will remain on the blackboard. At this time, the ball will appear at the starting point of the trajectory. The user's operating task is to use the force stroke modules of the left and right feet to control the ball to move as accurately as possible along the trajectory. The user uses the left foot pedal to control the left and right movement of the ball, and the right foot pedal controls the up and down movement of the ball. When the ball reaches the end of the trajectory and keeps it for at least 100 milliseconds, the training ends, the blackboard is cleared, and the user releases the pedal to enter the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment will prompt that this training is invalid, the blackboard will be cleared, and the next operation will begin. The trajectory of the ball is different each time. The cumulative training time is 5 minutes.

7. Working principle of auditory hand force stroke control training during training

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and there are left and right sides under the blackboard. The two small balls have a corresponding box in the middle. The user sits down and listens carefully to the instructions in the high-fidelity headset. The “left” or “right” played randomly by the voice command means that the left and right hands do the corresponding operations. The voice will continue for any time between “3000-5000” milliseconds. For example, when you hear “left”, quickly press the button with the left hand to make the left ball move from Move vertically from bottom to top to the upper box and keep the position. When the "left" voice disappears, immediately release the button; for example, when you hear "right", quickly press the button with your right hand to make the right ball go from bottom to top Move vertically into the upper box and keep the position. When the "right" voice disappears, immediately release the button. After this training is over, the blackboard is cleared, and the user releases the button to enter the next operation. If the user does not have any ball displacement during the training time, the virtual reality environment prompts that the training is invalid, the blackboard is cleared, and the next operation is started. The length of each voice command is random. The cumulative training time is 5 minutes.

8. Working principle of auditory foot force and stroke control training during training

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and there are left and right sides under the blackboard. The two small balls have a corresponding box in the middle position. The user sits down and listens carefully to the instructions in the high-fidelity headset. The'left' or'right' played by the voice command randomly means that the left and right feet do the corresponding operations. The voice will continue for any time between '3000-5000' milliseconds. For example, when you hear'left', quickly press the left foot on the corresponding pedal to make the left The ball moves vertically from bottom to top into the upper box and keeps its position. When the voice of "left" disappears, immediately release the pedal; for example, when you hear "right", quickly press the corresponding pedal with your right foot to make the right side small The ball moves vertically from bottom to top into the upper box and keeps its position. When the'right' voice disappears, immediately release the button. This training is over, the blackboard is cleared, and the user releases the pedal to enter the next operation. If the user does not have any ball displacement during the training time, the virtual reality environment prompts that the training is invalid, the blackboard is cleared, and the next operation is started. The length of each voice command is random. The cumulative training time is 5 minutes.

Therefore, the working principle of the sensory integration training program in this embodiment:

According to the results of the sensory integration test data analysis module, according to the results of the sensory integration level of ‘poor’, ‘fair’, ‘good’, ‘excellent’ and ‘excellent’ etc. The sensory integration training program is divided into five programs: 100, 80, 60, 40, and 20. Each training includes 8 sub-training items, according to the sequence of visual and auditory hand and foot space movement operations, and then visual and auditory hand and foot force stroke control operations. Each session is 5 minutes, and every two sessions has about 5 rests. Minutes, one training time is about 1 hour.

The working principle of sensory integration training process control: It mainly realizes the preservation of the user training program, the record of the program development, and the historical record of the completed training. For example, the less time it takes to move the ball to the top of the blackboard during the calculation training, the higher the score And query functions.

The sensory integration test process and sensory integration training process in this embodiment will be described in detail below:

As shown in Figure 8, the visual hand space movement test and training:

The user binds a space position module with both arms.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. The text ‘right hand test’ appears in the user’s field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and it feels at a distance of 5-10 meters. It moves at a constant speed in front of the user and draws the trajectory. The trajectory will remain directly in front of the user. At this time, the ball will appear at the starting point of the trajectory. The user’s operating task is to use the right hand tied with the spatial position module to point to the small ball. In the virtual reality environment, the pointing will appear as a blue light. If the blue light refers to the small ball, the test training starts, and the arm movement is controlled as much as possible to control the blue light. The ball moves accurately along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that the test training is invalid and enter the next operation. After the right-hand test training, it is the left-hand test training. The text "Left Hand Test Training" appears in the user's field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and it feels at a distance of 5-10 meters. It moves at a constant speed in front of the user and draws the trajectory. The trajectory will remain directly in front of the user. At this time, the ball will appear at the starting point of the trajectory. The user’s operating task is to use the left hand tied with the spatial position module to point to the small ball. In the virtual reality environment, the pointing will appear as a blue light. If the blue light refers to the small and medium ball, the test training starts, and the arm movement is controlled as much as possible to control the blue light. The ball moves accurately along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that the test training is invalid and enter the next operation. The trajectory of the ball is different each time.

As shown in Figure 9, the visual foot space movement test and training

The user ties a space position module with each foot.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. On the ground of the user's field of vision, two selectable balls of different colors will appear in sequence, such as a ‘red ball’ or a ‘black ball’. The two balls only appear one at a time, and they are random. The ground moves at a constant speed in front of the user and draws the movement trajectory, the trajectory will remain on the ground. At this time, the ball will appear at the starting point of the trajectory. In the virtual reality environment, the user's right foot is represented as a red square, and the left foot is represented as a black square, which is the circumscribed square of the small ball. When a "red ball" appears, the user steps on with his right foot and drags the ball Move along the trajectory, when the ball reaches the end of the trajectory, and keep it for at least 500 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that the test training is invalid and enter the next operation. When a ‘black ball’ appears, the user steps on with his left foot and drags the ball along the trajectory. When the ball reaches the end of the trajectory, keep it for at least 500 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that the test training is invalid and enter the next operation.

As shown in Figure 10, the auditory hand space movement test and training

The user binds a space position module with both arms.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. A scale will appear in the field of view to remind the user of the length of such a line segment. The text ‘right hand test training’ appears in the user’s field of vision, and then the text disappears. A three-dimensional ball appears directly in front of the user, and commands are played in the high-fidelity headset, such as'the ball moves 5 meters from left to right'. The user's operating task is to point the ball with the right hand tied to the spatial position module , In the virtual reality environment, the pointing is shown as a blue light. If the blue light refers to the small ball, the test training starts, and control the arm movement as much as possible to make the blue light controlled ball operate according to the voice instructions. When the ball is controlled to move for a certain distance, it stops and keeps it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that the test training is invalid and enter the next operation. After the right-hand test training, it is the left-hand test training. A scale will appear in the field of view to remind the user of the length of such a line segment. Then the text of "Left Hand Test Training" appears in the user's field of vision, and then the text disappears. A three-dimensional sphere appears directly in front of the user, and commands are played in the high-fidelity headset, such as'the ball moves 5 meters from left to right'. The user's operating task is to point to the ball with the left hand tied to the spatial position module , In the virtual reality environment, the pointing is shown as a blue light. If the blue light refers to the small ball, the test training starts, and control the arm movement as much as possible to make the blue light controlled ball operate according to the voice instructions. When the ball is controlled to move for a certain distance, it stops and keeps it for at least 100 milliseconds. Go to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that the test training is invalid and enter the next operation. The trajectory of the ball is different each time.

As shown in Figure 11, the auditory foot space exercise test and training

The user ties a space position module with each foot.

The visual environment created by the immersive virtual reality equipment is an empty environment with simple abstract ground and sky. The user is standing. A scale will appear in the field of view to remind the user of the length of such a line segment. The text of "Right Foot Test Training" appears in the user's field of vision, and then the text disappears. Appears at random locations on the ground within the field of vision in front of the user. A round ball, playing instructions in the high-fidelity headset, such as'move the ball vertically forward 5 meters from here'. In the virtual reality environment, the user's right foot appears as a red square. Step on the ball and drag the ball Go to a position and hold it for at least 500 milliseconds before proceeding to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement in 3 seconds, the virtual reality environment prompts that the test training is invalid and enter the next operation. After the right foot test training, it is the left foot test training. A scale will appear in the field of view to remind the user of the length of such a line segment. Then the text "Left Foot Test Training" appears in the user's field of vision, and then the text disappears. Appears at random locations on the ground within the field of vision in front of the user. A round ball, playing instructions in the high-fidelity headset, such as'move the ball 3 meters forward from here vertically'. In the virtual reality environment, the user’s left foot appears as a black square. Step on the ball and drag the ball Go to a position and hold it for at least 500 milliseconds before proceeding to the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment prompts that the test training is invalid and enter the next operation.

As shown in Figure 12, the visual hand force stroke control test and training

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and a blackboard appears in the blackboard area. The small ball moves at a constant speed on the blackboard and draws its trajectory. The trajectory will remain on the blackboard. At this time, the ball will appear at the starting point of the trajectory. The user's operating task is to use the left and right hand force stroke modules to control the ball to move as accurately as possible along the trajectory. The user presses the button with his left hand to control the left and right movement of the small ball, and presses the button with the right hand to control the up and down movement of the small ball. When the ball reaches the end of the trajectory and keeps it for at least 100 milliseconds, this test training is over, the blackboard is cleared, and the user releases the button to enter the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment will prompt that the test training is invalid, the blackboard will be cleared, and the next operation will begin. The trajectory of the ball is different each time.

As shown in Figure 13, the visual foot force stroke control test and training

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and a blackboard appears in the blackboard area. The small ball moves at a constant speed on the blackboard and draws its trajectory. The trajectory will remain on the blackboard. At this time, the ball will appear at the starting point of the trajectory. The user's operating task is to use the force stroke modules of the left and right feet to control the ball to move as accurately as possible along the trajectory. The user uses the left foot pedal to control the left and right movement of the ball, and the right foot pedal controls the up and down movement of the ball. When the ball reaches the end of the trajectory and keeps it for at least 100 milliseconds, this test training is over, the blackboard is cleared, and the user releases the pedal to enter the next operation. If the user does not make the ball reach the end within 10 seconds or there is no ball displacement within 3 seconds, the virtual reality environment will prompt that the test training is invalid, the blackboard will be cleared, and the next operation will begin. The trajectory of the ball is different each time.

As shown in Figure 14, the auditory hand force stroke control test and training

The visual environment created by the immersive virtual reality equipment is a classroom in daytime. The classroom is quiet and has a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and there are left and right sides under the blackboard. The two small balls have a corresponding box in the middle. The user sits down and listens carefully to the instructions in the high-fidelity headset. The “left” or “right” played randomly by the voice command means that the left and right hands do the corresponding operations. The voice will continue for any time between “3000-5000” milliseconds. For example, when you hear “left”, quickly press the button with the left hand to make the left ball move from Move vertically from bottom to top to the upper box and keep the position. When the "left" voice disappears, immediately release the button; for example, when you hear "right", quickly press the button with your right hand to make the right ball go from bottom to top Move vertically into the upper box and keep the position. When the "right" voice disappears, immediately release the button. The test training is over, the blackboard is cleared, and the user releases the button to enter the next operation. If the user does not have any ball displacement during the test training period, the virtual reality environment will prompt that the test training is invalid, the blackboard will be cleared, and the next operation will be started. The length of each voice command is random.

As shown in Figure 15, auditory foot force stroke control test and training

The visual environment created by the immersive virtual reality equipment is in a classroom during the daytime. The classroom is quiet, with a certain number of desks and chairs, but no other characters. The user's perspective is sitting, facing the blackboard in front of the classroom, and there are left and right sides under the blackboard. The two small balls have a corresponding box in the middle. The user sits down and listens carefully to the instructions in the high-fidelity headset. The'left' or'right' played by the voice command randomly means that the left and right feet do the corresponding operations. The voice will continue for any time between '3000-5000' milliseconds. For example, when you hear'left', quickly press the left foot on the corresponding pedal to make the left The ball moves vertically from bottom to top into the upper box and keeps its position. When the voice of "left" disappears, immediately release the pedal; for example, when you hear "right", quickly press the corresponding pedal with your right foot to make the right side small The ball moves vertically from bottom to top into the upper box and keeps its position. When the'right' voice disappears, immediately release the button. This test training is over, the blackboard is cleared, and the user releases the pedal to enter the next operation. If the user does not have any ball displacement during the test training period, the virtual reality environment will prompt that the test training is invalid, the blackboard will be cleared, and the next operation will begin. The length of each voice command is random.

As shown in Figure 16, the sensory integration disorder test process: a round of testing includes 5 visual hand space movement tests, 5 visual foot space movement tests, 5 auditory hand space movement tests, and 5 auditory feet Spatial movement test; 5 visual hand force stroke control tests, 5 visual foot force stroke control tests, 5 auditory hand force stroke control tests, 5 auditory foot force stroke control tests, a total of 40 tests. The sensory integration disorder test consists of two rounds.

As shown in Figure 17, the sensory integration training process:

The specific embodiments described herein are merely examples to illustrate the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the specific embodiments described or use similar alternatives, but they will not deviate from the spirit of the present invention or exceed the definition of the appended claims. Range.

Although this article uses force stroke data processing module 1, hand force stroke collection module 11, handheld device 111, buttons 112, foot force stroke collection module 12, base 121, pedal 122, power supply module 2, spatial movement data Processing module 3, hand space position acquisition module 31, foot space position acquisition module 32, main control module 4, force-stroke variable voltage output mechanism 5, first resistor 51, second resistor 52, spring 53, connecting rod 54. The spherical connecting end 541, the connecting ring 542, the varistor conductive reed 55, the fixed value resistor 56, the box body 6, and the strap 61. Virtual reality headset module 7, virtual reality audiovisual cognitive task presentation module 71, sensory integration test phase unit 8, norm database module 81, sensory integration test data analysis module 82, report generation module 83, sensory integration training phase unit 9 , Sensory integration training program generation module 91, sensory integration training process control module 92 and other terms, but the possibility of using other terms is not excluded. These terms are used only to describe and explain the essence of the present invention more conveniently; to interpret them as any additional limitation is contrary to the spirit of the present invention.

Claims

A sensory integration disorder testing and training system based on virtual reality audiovisual pathways is characterized in that the system includes a hand force stroke acquisition module (11) and/or a foot force stroke acquisition module (12). The force stroke acquisition module (11) and the foot force stroke acquisition module (12) are respectively connected to the force stroke data processing module (1), and the hand force stroke acquisition module (11) and the foot force stroke acquisition module ( 12) and the force stroke data processing module (1) are connected to the power supply module (2), and the power supply module (2) is respectively connected with the hand space position acquisition module (31) and the foot space position acquisition module (32). ) And the spatial movement data processing module (3), and the hand spatial position acquisition module (31) and/or the foot spatial position acquisition module (32) are respectively connected to the spatial movement data processing module (3), and all The force stroke data processing module (1) and the spatial motion data processing module (3) are both connected to the main control module (4), and the main control module (4) is respectively connected with a virtual reality headset module (7) ) Is connected with the virtual reality visual and auditory cognitive task presentation module (71), and the main control module (4) is connected with the sensory integration test phase unit (8) and/or the sensory integration training phase unit (9).
The sensory integration disorder testing and training system based on virtual reality audiovisual pathways according to claim 1, characterized in that the sensory integration testing phase unit (8) comprises a normal model database connected to the main control module (4) respectively Module (81), sensory integration test data analysis module (82) and report generation module (83); among them,

The sensory integration test data analysis module (82) is configured to mainly realize the comparison of data of the same age and gender with the norm database in an audiovisual task environment to solve the sensory integration level parameters relative to the user of the norm data;

The report generation module (83) is configured to automatically display the user's sensory integration level parameters according to a certain graphic structure, in the form of charts and texts, word or PDF documents, and automatically further the meaning of the main parameters and the score Analysis and interpretation.

The norm database module (81) is configured to mainly store sensory integration parameters collected and statistic by the test system used by normal people of sensory integration.
The sensory integration disorder testing and training system based on virtual reality audiovisual pathways according to claim 2, wherein the sensory integration training phase unit (9) includes sensory integration training connected to the main control module (4) respectively The plan generation module (91) and the sensory integration training process control module (92), among which,

The sensory integration training program generation module (91) is configured to analyze the results of the sensory integration test data analysis module (82);

The sensory integration training process control module (92) is configured to mainly realize the storage of the user's training program, the record of the program development, the historical performance record of the completed training and the query function.
The sensory integration disorder testing and training system based on virtual reality audiovisual pathways according to claim 1 or 2 or 3, characterized in that, the virtual reality headset module (7) is a headset capable of wearing virtual reality equipment and/ Or a high-fidelity headset; the virtual reality audiovisual cognitive task presentation module (71) is a virtual reality headset, which mainly completes immersive visual and auditory information presentation.
The sensory integration disorder testing and training system based on virtual reality audiovisual pathways according to claim 4, wherein the hand force stroke acquisition module (11) comprises a handheld device (111), and the handheld device ( 111) has several buttons (112) corresponding to the positions of the fingers, and each button (112) is respectively connected to a force-stroke variable voltage output mechanism (5) provided in the handheld device (111); The foot force stroke collection module (12) includes a base (121), a pedal (122) is hinged on the base (121), the pedal (122) is inclined, and the pedal (121) is provided on the base (121). (122) The force-stroke variable voltage output mechanism (5) below the upper end, the upper end of the pedal (122) acts on the force-stroke variable voltage output mechanism (5) and when the pedal (122) moves, the force-stroke variable voltage output mechanism (5) The output voltage of the output mechanism (5) changes with the stroke of the pedal (122).
The sensory integration disorder testing and training system based on virtual reality audiovisual pathways according to claim 5, characterized in that the force-stroke variable voltage output mechanism (5) comprises vertically fixed on a base (121) or a handheld device (111) on the first resistive element (51) and second resistive element (52), the first resistive element (51) and the second resistive element (52) are arranged in parallel with each other and are arranged between the two The spring (53) and the connecting rod (54) pressed between the spring (53), the lower end of the connecting rod (54) is provided with a varistor conductive reed (55), the varistor conductive reed (55) The two ends of) are respectively in electrical contact with the first resistor (51) and the second resistor (52), and the first resistor (51) and the second resistor (52) are respectively connected to the power supply module (2) The positive and negative poles of the, and a fixed-value resistor (56) is provided between the first resistor (51) or the second resistor (52) and the power supply module (2), the connecting rod (54) The upper end is connected with the upper end of the pedal (122) and/or the button (112).
The sensory integration disorder testing and training system based on virtual reality audiovisual pathways according to claim 6, wherein the upper end of the connecting rod (54) is provided with a spherical connecting end (541), and the pedal (122) A connecting ring (542) is provided on the back of the upper end, and the number of the foot force and stroke collection modules (12) is two and they are arranged in parallel, one of which is for the left foot and the other for the right foot; the hand The number of the force stroke collection modules (11) is two and they are arranged in parallel, one of which is for the left hand and the other is for the right hand.
The sensory integration disorder testing and training system based on virtual reality audiovisual pathways according to claim 1, wherein the force stroke data processing module (1) comprises an Arduino chip or a stm32 microcontroller based on the Mega2560, mini or Nano architecture The force stroke data processing module (1) is used to convert the analog signal of the voltage change of the force stroke variable voltage output mechanism (5) into a digital signal, the analog-to-digital conversion accuracy is 10-16 bits, and the sampling rate is 500 Hz; The force stroke data processing module (1) performs Kalman filtering on the current digital signal caused by the voltage change, removes interference and noise signals in the acquisition process, and sends the force stroke data to the main control module through a USB data cable or wireless Bluetooth protocol (4); The power supply module (2) is a 3.3-5V DC power supply, and the power supply module (2) is an external DC power supply or a USB interface connected to the main control module (4).
The sensory integration disorder testing and training system based on the visual and auditory pathway of virtual reality according to claim 1, wherein the hand space position acquisition module (31) and the foot space position acquisition module (32) each include one A box (6) worn on the hands or feet through a strap (61). The box (6) is provided with a six-axis motion processing component with a three-axis acceleration sensor and a three-axis gyroscope sensor. In the hand or foot spatial movement parameter recording; the spatial movement data processing module includes the force stroke data processing module (1) includes an Arduino chip or stm32 microcontroller based on the Mega2560, mini or Nano architecture, which removes the collection process The interference and noise signals are sent to the main control module (4) through the USB data cable or wireless Bluetooth protocol.
The sensory integration disorder testing and training system based on virtual reality audiovisual pathways according to claim 1, wherein the main control module (4) includes any one of a desktop computer, a notebook computer, an all-in-one computer, and a single-chip computer. A speaker or earphone is connected to the main control module (4), and the main control module (4) is built-in or externally connected with any one of a display screen, a digital TV screen, an all-in-one screen, and a flat screen.