CN104706499A - Upper limb cranial nerve rehabilitation training system and training method - Google Patents
Upper limb cranial nerve rehabilitation training system and training method Download PDFInfo
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Abstract
The invention discloses an upper limb cranial nerve rehabilitation training system and training method. The training system comprises a mechanical structure which can drive upper limbs to move and has a force feedback function, a three-dimensional display, a loudspeaker and an information processing device, and the mechanical structure, the three-dimensional display, and the loudspeaker are in communication connection with the information processing device. The information processing device comprises a virtual reality module and a man-machine interaction module, and virtual reality is displayed through the three-dimensional display. A user can choose a training project through man-machine interaction software, print a training report and adjust system parameters; the user interacts with scenes in the virtual reality through the mechanical structure, and meanwhile voices, images and force sense information in the virtual environment are fed back to the user through the display, the loudspeaker and a mechanical device respectively. According to the upper limb cranial nerve rehabilitation training system and training method, the training content is rich and diversified, the enjoyment of rehabilitation training is enhanced, meanwhile, rehabilitation trainers are liberated from tedious physical labor, and the human cost is saved.
Description
Technical field
The present invention relates to medical rehabilitation field, particularly relate to a kind of upper limb cranial nerves rehabilitation training system and training method.
Background technology
The training of upper limb cranial nerves rehabilitation has great importance for the patient such as apoplexy and brain injury, and patient's cranial nerve can be helped to reinvent, thus recovers upper extremity exercise ability.And training can be made better to complete training mission by aided training equipment, realize training effect.
Such as, for apoplexy trainer, generally trainer's manual therapeutic in person for the phase that the collapses from physical exhaustion trainer of apoplexy in current convalescent home, consume a large amount of costs of labor, and the existing rehabilitation equipment of convalescent home is most of and body-building apparatus is very similar, trainer repeats some simple actions when using, dry as dust.
Virtual reality technology take computer technology as core, in conjunction with related science technology, generate with certain limit true environment in vision, audition, the digitized environment that the aspect height such as power feel are approximate, user carries out reciprocal action by the object in the equipment of necessity and digitized environment, influences each other, can produce the impression and experience of coming to corresponding true environment personally.
In sum, how virtual reality technology is applied in exercise equipment, be developed into a there is certain interest, training system easy to use is a problem demanding prompt solution.
Summary of the invention
Based on this, be necessary that providing a kind of can free physics trainer from heavy physical work, and there is certain interesting upper limb cranial nerves rehabilitation training system and training method.
For realizing a kind of upper limb cranial nerves rehabilitation training system that the object of the invention provides, comprise and can drive trainer's upper extremity exercise and the frame for movement with force feedback function, 3D display, speaker, and information processor, described frame for movement, 3D display, and speaker is connected with described information processor communication;
Described information processor comprises virtual reality module and human-computer interaction module;
Described virtual reality module is used for the scene of virtual reality and is shown by described 3D display;
Described human-computer interaction module frame for movement according to the scenery control of described virtual reality drives trainer's upper extremity exercise, controls described speaker and sounds, and receive, analyze the feedback information of described frame for movement;
Described feedback information comprises the position of frame for movement and the stressed of each degree of freedom direction.
As a kind of embodiment of upper limb cranial nerves rehabilitation training system, described information processing apparatus is set to computer.
As a kind of embodiment of upper limb cranial nerves rehabilitation training system, described human-computer interaction module realizes man-machine interaction by the human-computer interaction interface of Design of Virtual Instrument software design.
As a kind of embodiment of upper limb cranial nerves rehabilitation training system, described virtual reality module realizes the scene of virtual reality by the design of 3D design software.
As a kind of embodiment of upper limb cranial nerves rehabilitation training system, in described information processor, also comprise memory module, for storing multiple training mode, multiple training example, and training result.
As a kind of embodiment of upper limb cranial nerves rehabilitation training system, described training mode comprises passive exercise pattern, power-assisting training pattern, and active training pattern.
As a kind of embodiment of upper limb cranial nerves rehabilitation training system, described 3D display is connected by the video card of HDMI with described computer.
As a kind of embodiment of upper limb cranial nerves rehabilitation training system,
Described virtual reality module also comprises virtual image acquiring unit;
Described virtual image acquiring unit, generates two virtual image datas for arranging two virtual video cameras by the contextual data of virtual reality, and sends two described virtual image datas to described 3D display;
Two described virtual image datas are shown to the left and right view position of trainer by described 3D display by left and right pattern;
The parameter of two described virtual video cameras is identical, arrange identical and visual angle is similar to by trainer visual angle.
As a kind of embodiment of upper limb cranial nerves rehabilitation training system, described frame for movement is the mechanical mechanism of rocker-type robot.
Based on a kind of upper limb cranial nerves rehabilitation training method of same inventive concept, comprise the following steps:
Corresponding pattern drill is entered, the scene of the virtual reality that the display of 3D display is preset according to selected training mode;
When selected be selected as passive exercise pattern time, described frame for movement drives the upper limb of trainer to complete training mission in the scene of virtual reality;
When selected be selected as power-assisting training pattern time, the upper limb of the trainer fed back according to described frame for movement is had an effect size and direction, described information processor controls the upper limb that described frame for movement is trainer and provides auxiliary force, and help upper limb completes the training mission in the scene of virtual reality;
When selected be selected as active training pattern time, when upper limb completes the training mission in the scene of described virtual reality, described information processor provides resistance by described frame for movement to upper limb according to the scene of described virtual reality.
As a kind of embodiment of upper limb cranial nerves rehabilitation training method, when selected be selected as passive exercise pattern time, described frame for movement drives the upper limb of trainer to complete training mission in the scene of virtual reality, comprises the following steps:
Detect the range of motion of upper limb, and be stored in described memory module;
According to the training mission in the range of motion of described upper limb and the scene of virtual reality, described information processor controls described frame for movement and drives the upper limb of trainer to carry out simple joint training within the scope of described range of motion;
According to the size being subject to upper limb counteracting force at extreme position that described frame for movement is fed back, progressively strengthen the range of motion of described upper limb, until the range of motion of described upper limb reaches the level of normal person;
Described frame for movement drives the upper limb of trainer to carry out ADL training according to the scene of virtual reality.
As a kind of embodiment of upper limb cranial nerves rehabilitation training method, further comprising the steps of:
Described information processor speaker according to the scenery control of described virtual reality sends corresponding sound;
The position of respective objects in the scene of the positional information adjustment virtual reality that described information processor feeds back according to described frame for movement.
Beneficial effect of the present invention comprises:
Upper limb cranial nerves rehabilitation training system provided by the invention and training method, combine virtual reality technology with exercise equipment, builds the living scene be associated with daily life, and as wiped a table, water receiving fruit, picking fruit, buys vegetables in food market.User can select the project of training by interactive software, print training form and adjustment system parameter; User is by the scene interaction in frame for movement and virtual reality, and the sound simultaneously in virtual environment, image and power visual information are respectively by display, and speaker and machinery feed back to user.It makes training content rich and variedization, strengthens the interest of rehabilitation training, rehabilitation training is an apprentice of in loaded down with trivial details physical work simultaneously and frees, and saves human cost.
Accompanying drawing explanation
Fig. 1 is the system structure schematic diagram of a specific embodiment of a kind of upper limb cranial nerves rehabilitation training system of the present invention;
Fig. 2 is the flow chart of a specific embodiment of a kind of upper limb cranial nerves rehabilitation training method of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing, the upper limb cranial nerves rehabilitation training system of the embodiment of the present invention and the detailed description of the invention of training method are described.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The upper limb cranial nerves rehabilitation training system of the embodiment of the present invention, as shown in Figure 1, comprise and can drive trainer's upper extremity exercise and the frame for movement 100 with force feedback function, 3D display 200, speaker 300, and information processor 400, described frame for movement, 3D display, and speaker is connected with described information processor communication.Described information processor 400 comprises virtual reality module 410 and human-computer interaction module 420, and described virtual reality module is used for the scene of virtual reality and is shown by described 3D display; Described human-computer interaction module 420 frame for movement according to the scenery control of described virtual reality drives trainer's upper extremity exercise, controls described speaker and sounds, and receive, analyze the feedback information of described frame for movement.Described feedback information comprises the position of frame for movement and the stressed of each degree of freedom direction.Be sent to by the positional information of described frame for movement in virtual reality module, described virtual reality module is then according to the position of corresponding virtual role in the scene of described positional information adjustment virtual reality.
Described 3D display comprises 3D glasses, need the trainer carrying out training, as patients with cerebral apoplexy, when use system carries out the training of upper limb cranial nerves rehabilitation, in 3D display, the scene of virtual reality is seen by 3D glasses, and frame for movement auxiliary under according to the scene of virtual reality, the object in mobile context, or complete default task.
The upper limb cranial nerves rehabilitation training system of the embodiment of the present invention, uses virtual reality module, builds the living scene be associated with daily life, and as wiped a table, water receiving fruit, picking fruit, buys vegetables in food market.User can select the project of training by interactive software, print training form and adjustment system parameter; User is by the scene interaction in frame for movement and virtual reality, and the sound simultaneously in virtual environment, image and power visual information are respectively by display, and speaker and machinery feed back to user.It makes training content rich and variedization, strengthen the interest of rehabilitation training, and trainer can train under default training step according to the scene of virtual reality, rehabilitation training is an apprentice of in loaded down with trivial details physical work and frees, and saves human cost.
Preferably, wherein in an embodiment, described speaker uses 5.1 channel loudspeakers, virtual reality scenario can be coordinated to send the stereo of simulating reality, make rehabilitation training person on the basis of visual experience, be subject to the impact of audition simultaneously, make whole virtual reality scenario more true, more interesting.
Wherein in an embodiment, described information processing apparatus is set to computer.By running corresponding program in a computer, realizing virtual reality and representing human-computer interaction interface.Computer utility is extensive, and use is carried out entirety and controlled simple and easy to do, and easily realizes the communication with other related devices.
Wherein in an embodiment, described human-computer interaction module realizes man-machine interaction by the human-computer interaction interface of Design of Virtual Instrument software design.Simple by Design of Virtual Instrument software design machine Interaction Interface Design, integration module is easy to use.As designed with LabVIEW software.Its displaying interface is simply generous, and virtual integrated device enriches, and module placement design easily realizes, and amendment is convenient.And there is good communication interface.
Wherein in an embodiment, described virtual reality module realizes the scene of virtual reality by the design of 3D design software.As the scene of virtual reality can be realized with by unity3D design.There is good visual effect.
Wherein in an embodiment, in described information processor 400, also comprise memory module 430, for storing multiple training mode, multiple training example, and training result.Memory module stores multiple default training mode and training example, and trainer, when training, selects suitable training example to train according to practical situation and personal like.And the result of training trainer carried out is stored in memory module, to evaluate the situation of trainer and to adjust training content simultaneously.
Wherein in an embodiment, described training mode comprises passive exercise pattern, power-assisting training pattern, and active training pattern.The trainer of firm experience apoplexy, is much in the state of collapsing from physical exhaustion, and does not almost have paleocinetic ability, now needs external force to drive upper extremity exercise.Under passive exercise pattern, upper limb is fixed on robot handle, first simple joint training is carried out to trainer, namely frame for movement drive upper limb respectively with elbow joint and shoulder joint for rotating shaft, make it do the monarthric action of stretching out and drawing in.This pattern can measure the mobility in the joint of upper limb, and recovers the range of motion of upper limb.When trainer's muscular strength has certain recovery, but when being not enough to overcome upper limb self gravitation, power-assisting training pattern can be used to train.Under power-assisting training pattern, use force transducer to detect the size and Orientation of having an effect of upper limb, provide suitable auxiliary force to upper limb in mechanical mechanism, help trainer completes the psychomotor task in virtual environment.When trainer has been enough to overcome upper limb gravitational motion, in order to suitably increase its quantity of motion, active training pattern can be used.Active training pattern uses adaptive impedance Control, can ensure contact force suitable between upper limb and frame for movement, provides suitable resistance simultaneously.Upper limbs force is more weak, and when interactive speed is slower, the resistance of generation is less, ensures the execution of upper limb energy.When the strength of upper extremity exercise increases, movement velocity is accelerated, then regulate the parameter of impedance Control, resistance is increased, so suitably can increase the resistance of upper extremity exercise, improves the efficiency resumed training.
Wherein in an embodiment, described 3D display is connected by the video card of HDMI with described computer.In the embodiment of the present invention, the 3D display of 50 cun is (English: High Definition Multimedia Interface by HDMI, HDMI) be connected with the video card of computer, use it to show the 3D virtual environment run in a computer.HDMI is a kind of digitized video/audio interface technology, and be the tailored version digital interface of applicable image transmission, it can transmit audio frequency and video-audio signal simultaneously, and the maximum data transmission speed is 5Gbps.Simultaneously without the need to transmitting advance row D/A or analog/digital conversion at signal.Effectively can ensure the display effect of virtual reality scenario.
Wherein in an embodiment, audio signal is reached on 3D display by HDMI, then produces the output of three-dimensional sound by 3D display, is connected on 3D display by the input of 5.1 channel loudspeakers.A main left side for 5.1 channel loudspeakers, the main right side, mid-three audio amplifiers and woofer are placed in and use before orientation, the wherein main left swing left side, main right pendulum the right, in the middle of mid-pendulum, low single pendulum is placed on ground above, or on shorter shelf, two surrounding sound speakers are placed in after hearer, be connected with power amplifier by a long line, height and a main left side, the main right side and mid-substantially identical.Sound in virtual environment, as the automobile sound on highway, chirping of birds on treetop, encounters the sound that desk etc. sends, and is sent by 5.1 channel loudspeakers of all directions, reach in trainer's ear, trainer, according to the size and Orientation of the sound heard, in conjunction with the 3D virtual environment seen, can make the direction of experiencing each sound source that trainer is vivid, distance, and motion direction and velocity magnitude.
Wherein in an embodiment, described virtual reality module 410 also comprises virtual image acquiring unit 411.Described virtual image acquiring unit 411, generates two virtual image datas for two virtual video cameras arranged by unity3D by the contextual data of virtual reality, and sends two described virtual image datas to described 3D display.Two described virtual image datas are shown to the left and right view position of trainer by described 3D display by left and right pattern.The parameter of two described virtual video cameras is identical, arrange identical and visual angle is similar to by trainer visual angle.
In unity3D, add the identical video camera of 2 parameters, its visual angle is set to similar to human eye visual angle, two cameras are positioned over phase co-altitude, the horizontal range of Reasonable adjustment two camera and sight line angle, make it present and best go out to shield effect.Use " the left and right pattern " of 3D display, the image of two video camera shootings is presented at respectively the right and left eyes of trainer, trainer just can see 3D image on the spot in person, and the object seemingly in virtual environment has walked out screen, just trainer at one's side, within reach.Avoid simple action training too uninteresting.
Wherein in an embodiment, described frame for movement is rocker-type robot.The frame for movement of described rocker-type robot is the frame for movement of publication No. described in CN102805697A.This robotic's architecture is compact, flexible movements, precision are high.Described rocker-type upper limb rehabilitation robot primarily of chassis, end hand grip, rocking bar, 4 motors, DSP panel, 6DOF power/torque sensor, pressure transducer, signal amplifier, the compositions such as power supply circuits.For the training of upper limb, the hands of trainer directly holds end hand grip, can carry out the translational motion of 3DOF in space and the rotation around rocking bar in its range of activity.Trainer is when training, and six degree of freedom power/torque sensor can measure the power thrusts of trainer's arm and the size in each side's upward force.Pressure transducer can detect the grip size of trainer.These power/moment informations are come in and gone out in DSP by the A/D module on DSP panel.The information such as the angle that rocking bar moves by DSP are sent to information processor by serial ports.The wherein platform of operation whole system that provides of interactive software, receives by serial ports the positional information that DSP sends, sends the command information of motor pattern to DSP, and by carrying out communication between Transmission Control Protocol and virtual environment.Interactive software receives the corner information of motor from DSP, is converted to after human arm position's information through mathematics, and by TCP transmission to virtual environment, the arm that just can control role in virtual environment and trainer is synchronized with the movement.
To the road surface in 3D virtual environment, trees, fruit, the dummy object that desk etc. may contact with the arm of trainer in rehabilitation training carries out mechanical modeling, simulates stressing conditions time human arm contacts with these objects.When trainer in training process touches these objects, by TCP communication, corresponding feedback force data are sent to man-machine interaction program by virtual environment program, by serial ports, force feedback data are sent to DSP by man-machine interaction program again, DSP changes the output torque of motor according to force feedback data, moment drives rocking bar motion, and the contact force of hands and object feeds back to trainer on hand the most at last.Trainer's Feeling is made to have touched an object on the spot.
Illustrate how the present invention utilizes the vision in virtual reality with the training game of " water receiving fruit " below, sound and Virtual force field etc. help trainer to improve the effect of training.The scene of virtual reality is a quiet little institute in rural area, there is chicken on ground, the domestic animals such as doggie, has butterfly to fly in the air once in a while.Upper limb holds handle, and the one basket in the mobile virtual world is caught from setting the Fructus Mali pumilae that falls, and trainer, by 3D display, can observe the relative position of fruit in declining in three dimensions and basket intuitively, adjust the position of basket accordingly.Fruit falls into the moment of basket, the sound of fruit collision basket is sent by distribution 5.1 channel loudspeakers in a room, produced the vibrations of a vertical direction by driven by motor rocking bar simultaneously, trainer is experienced and holds the impact force that basket catches fruit, now play an incentive voice message, along with the fruit in basket gets more and more, the damping of rocking bar motion also can correspondingly increase.In above training process, judged the orientation of basket and fruit by 3D visual information, trained the cognitive competence of trainer.Time fruit falls into basket, the muscle of the feedback stimulating exercise person that audition and power are felt and nervous system, enhance the effect of neural restructuring.When trainer can receive fruit more and more smoothly, in basket, fruit increases, and rocking bar kinetic damping increases, trainer needs larger strength to move basket, like this can the intensity of adaptive adjusting training person training, while making trainer complete training mission, strengthen the efficiency of training.
Use a kind of upper limb cranial nerves rehabilitation training method that aforesaid upper limb cranial nerves rehabilitation training system carries out, as shown in Figure 2, comprise the following steps:
S100, enters corresponding pattern drill according to selected training mode, the scene of the virtual reality that the display of 3D display is preset;
S200, when selected be selected as passive exercise pattern time, described frame for movement drives the upper limb of trainer to complete training mission in the scene of virtual reality;
S300, when selected be selected as power-assisting training pattern time, the upper limb of the trainer fed back according to described frame for movement is had an effect size and direction, and described information processor controls the upper limb that described frame for movement is trainer and provides auxiliary force, helps upper limb to complete training mission in the scene of virtual reality;
S400, when selected be selected as active training pattern time, when upper limb completes the training mission in the scene of described virtual reality, described information processor provides resistance by described frame for movement to upper limb according to the scene of described virtual reality.Strict precedence relationship is not had between described step S200 ~ S400.
In the upper limb cranial nerves rehabilitation training method of the embodiment of the present invention, trainer can select suitable training mode according to the practical situation of self, and system is trained according to the upper limb of different pattern pair trainers.Effectively can improve the efficiency that trainer's upper limb recovers, and strengthen the initiative of trainer's training.
Wherein active training pattern uses adaptive impedance Control, can ensure contact force suitable between upper limb and handle, provides suitable resistance simultaneously.Upper limbs force is more weak, and when interactive speed is slower, the resistance of generation is less, ensures the execution of upper limb energy.When the strength of upper extremity exercise increases, movement velocity is accelerated, then regulate the parameter of impedance Control, resistance is increased, so suitably can increase the resistance of upper extremity exercise, improves the efficiency resumed training.
Wherein in an embodiment, step S200, when selected be selected as passive exercise pattern time, frame for movement drives the upper limb of trainer to complete training mission in the scene of virtual reality, comprises the following steps:
S210, detects the range of motion of upper limb, and is stored in described memory module;
S220, according to the training mission in the range of motion of described upper limb and the scene of virtual reality, described information processor controls described frame for movement and drives the upper limb of trainer to carry out simple joint training within the scope of described range of motion;
S230, according to the size being subject to upper limb counteracting force at extreme position that described frame for movement is fed back, progressively strengthens the range of motion of described upper limb, until the range of motion of described upper limb reaches the level of normal person;
S240, described frame for movement drives the upper limb of trainer to carry out ADL training according to the scene of virtual reality.
This pattern can measure the mobility in the joint of upper limb, and recovers the range of motion of upper limb.Take frame for movement as the mechanical mechanism of rocker-type upper limb rehabilitation robot be example.First system can recall the simple joint training track stored in advance in a storage module, and the range of movement of this track is no more than normal human articular's movement angle.In the process of simple joint training, six degree of freedom power/the torque sensor of handle, at its lower end is used to detect the contact force of upper limb and rocking bar, judge whether upper limb has reached the extreme position of motion by the size and Orientation of this power, and whether trainer there is paleocinetic ability.When upper limb reaches the extreme angles of opening or drawing in, now to be subject to the active force of upper limb contrary with the direction of motion of rocking bar for handle, and size reaches the threshold value set, now by the angle information of rocking bar motion, and upper limb stores in a database the force information of rocking bar, and control motor and export reverse moment, start to move round about.Average several times for guaranteeing that the value recorded accurately can be moved repeatedly.After measuring the range of motion of upper limb, by later often wheel motor control within this scope, and the size detected in the power of two ends extreme position, if power diminishes, illustrate that the range of motion of upper limb increases, now suitably expand range of movement, expand upper limb to and again threshold value is reached to handle resistance.So repeatedly carry out, until upper limb joint mobility reaches the level of normal person.After upper limb joint mobility is recovered, passive exercise pattern can be used to carry out some advanced distributed learnings (AdvancedDistributed Learning, ADL) training.For " virtual get thing ", virtual environment is warm within doors little at one, and trainer is sitting in tea table limit, tea table has some conventional the articles for daily uses nearby, such as teacup, paper, mobile phone etc.Upper limb is driven by frame for movement and passively fetches these article.
In the embodiment of a upper limb cranial nerves rehabilitation training method wherein, further comprising the steps of:
S500, described information processor speaker according to the scenery control of described virtual reality sends corresponding sound;
S600, the position of respective objects in the scene of the positional information adjustment virtual reality that described information processor feeds back according to described frame for movement.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (12)
1. a upper limb cranial nerves rehabilitation training system, it is characterized in that, comprise and can drive trainer's upper extremity exercise and the frame for movement with force feedback function, 3D display, speaker, and information processor, described frame for movement, 3D display, and speaker is connected with described information processor communication;
Described information processor comprises virtual reality module and human-computer interaction module;
Described virtual reality module is used for the scene of virtual reality and is shown by described 3D display;
Described human-computer interaction module frame for movement according to the scenery control of described virtual reality drives trainer's upper extremity exercise, controls described speaker and sounds, and receive, analyze the feedback information of described frame for movement;
Described feedback information comprises the position of frame for movement and the stressed of each degree of freedom direction.
2. upper limb cranial nerves rehabilitation training system according to claim 1, it is characterized in that, described information processing apparatus is set to computer.
3. upper limb cranial nerves rehabilitation training system according to claim 2, it is characterized in that, described human-computer interaction module realizes man-machine interaction by the human-computer interaction interface of Design of Virtual Instrument software design.
4. upper limb cranial nerves rehabilitation training system according to claim 1, is characterized in that, described virtual reality module realizes the scene of virtual reality by the design of 3D design software.
5. upper limb cranial nerves rehabilitation training system according to claim 1, is characterized in that, also comprise memory module in described information processor, for storing multiple training mode, and multiple training example, and training result.
6. upper limb cranial nerves rehabilitation training system according to claim 5, it is characterized in that, described training mode comprises passive exercise pattern, power-assisting training pattern, and active training pattern.
7. upper limb cranial nerves rehabilitation training system according to claim 1, is characterized in that, described 3D display is connected by the video card of HDMI with described computer.
8. upper limb cranial nerves rehabilitation training system according to claim 4, is characterized in that,
Described virtual reality module also comprises virtual image acquiring unit;
Described virtual image acquiring unit, generates two virtual image datas for arranging two virtual video cameras by the contextual data of virtual reality, and sends two described virtual image datas to described 3D display;
Two described virtual image datas are shown to the left and right view position of trainer by described 3D display by left and right pattern;
The parameter of two described virtual video cameras is identical, arrange identical and visual angle is similar to by trainer visual angle.
9. the upper limb cranial nerves rehabilitation training system according to any one of claim 1 to 8, is characterized in that, described frame for movement is the mechanical mechanism of rocker-type robot.
10. a upper limb cranial nerves rehabilitation training method, is characterized in that, comprises the following steps:
Corresponding pattern drill is entered, the scene of the virtual reality that the display of 3D display is preset according to selected training mode;
When selected be selected as passive exercise pattern time, described frame for movement drives the upper limb of trainer to complete training mission in the scene of virtual reality;
When selected be selected as power-assisting training pattern time, the upper limb of the trainer fed back according to described frame for movement is had an effect size and direction, described information processor controls the upper limb that described frame for movement is trainer and provides auxiliary force, and help upper limb completes the training mission in the scene of virtual reality;
When selected be selected as active training pattern time, when upper limb completes the training mission in the scene of described virtual reality, described information processor provides resistance by described frame for movement to upper limb according to the scene of described virtual reality.
11. upper limb cranial nerves rehabilitation training methodes according to claim 10, is characterized in that, when selected be selected as passive exercise pattern time, described frame for movement drives the upper limb of trainer to complete training mission in the scene of virtual reality, comprises the following steps:
Detect the range of motion of upper limb, and be stored in described memory module;
According to the training mission in the range of motion of described upper limb and the scene of virtual reality, described information processor controls described frame for movement and drives the upper limb of trainer to carry out simple joint training within the scope of described range of motion;
According to the size being subject to upper limb counteracting force at extreme position that described frame for movement is fed back, progressively strengthen the range of motion of described upper limb, until the range of motion of described upper limb reaches the level of normal person;
Described frame for movement drives the upper limb of trainer to carry out ADL training according to the scene of virtual reality.
12. upper limb cranial nerves rehabilitation training methodes according to claim 10, is characterized in that, further comprising the steps of:
Described information processor speaker according to the scenery control of described virtual reality sends corresponding sound;
The position of respective objects in the scene of the positional information adjustment virtual reality that described information processor feeds back according to described frame for movement.
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