CN106691478A - Sub-site hand function rehabilitation evaluation method and device - Google Patents
Sub-site hand function rehabilitation evaluation method and device Download PDFInfo
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Abstract
The invention provides a sub-site hand function rehabilitation evaluation method and device. The evaluation device comprises a multi-mode data acquisition module, a multi-mode data preprocessing module, a hand function evaluation index extraction and display module and a feedback module, the multi-mode data acquisition module comprises a pressure, tactile sense and sliding signal acquisition module and an inertia sensing data acquisition module, the multi-mode data preprocessing module comprises a pressure, tactile sense and sliding signal preprocessing module and an inertia sensing data preprocessing module, pressure, tactile sense and sliding signals are acquired by a sensor made of novel piezoelectric materials, sensor piezoelectric coefficients are measured, so that standards can be quantized, hand monition information is acquired by an inertia sensor, monition information of parts of portions of a hand can be quantized by the inertia sensor, the hand function evaluation index extraction and display module is used for extracting quantitative indexes for reach-to-grasp movement data according to a normal group, giving weight to comprehensive analysis indexes and making a rehabilitation evaluation scoring mechanism, and the feedback module is used for feeding back evaluation results.
Description
Technical field
The invention belongs to sensor technical field, signal processing technology field, rehabilitation Instrument technology field.More particularly to one
Plant the assessment of grasping recovery function and rehabilitation guide training system based on staff multiple location signal.
Background technology
2004-2005 whole nations third time cause of the death retrospective survey, it is primary that cardiovascular and cerebrovascular diseases have become China resident
The lethal cause of disease.According to the large sample epidemiological survey study estimate carried out in the whole nation in recent years, China post-stroke living patients exist
More than 10000000, wherein the ratio for palsy occurring first in less than 65 years old accounts for nearly 50%.About 3/4ths people in survivor
Leave the sequelae such as different degrees of hemiplegia, some patients' disability and viability.To country and numerous people group
Crowd brings huge burden, how to allow these hemiplegic patient's quick recoveries to turn into the social concern for being badly in need of solving.
The symptom of limb motion or control obstacle is common in hemiplegic patient.For the treatment method such as artifact of hemiplegic patient
Reason operation, environmental stimuli etc., rehabilitation training teacher often carries out rehabilitation assessment according to subjective experience and rehabilitation training plans are formulated, and lacks
Few reliable quantitative evaluation means and rehabilitation training, there is also certain medical resource and waste.Found according to clinical research, brain hemiparalysis
Patient's lower limb function resume speed is recovered far faster than upper extremity function.When Rehabilitation reduces doctor in short supply to a certain extent, as far as possible
The occupancy of resource is treated, hemiplegic patient is voluntarily being carried out healing hand function training.
Existing hand grasps recovery function appraisal procedure and training system for hand Divisional rehabilitation assessment and instruction at present
Practice research less, for hand portion finger, point joint, the subregional mechanical signal of palm, tactile and slip signals and branch
The research of the movable information of position is few.And, most systems are the biological electromyographic signal of collection and pressure signal, bioelectrical signals
During collection, electrode slice needs to be fixed on skin surface, muscle group position, and such patient needs to wear very in rehabilitation training
Many electrode slices, very inconvenient for having the patient of hand dysfunction, during collection pressure signal, partial pressure sensor is not
It is fixed easily, some sensors have certain volume, when patient carries out rehabilitation training, is unfavorable for that patient carries out hand grasping dynamic
Make so as to influence healing hand function to assess.
The content of the invention
The present invention is intended to provide the system and device of a kind of healing hand function assessment and training hand function, auxiliary doctor is hand work(
Can patient objective assessment is provided and personalized rehabilitation programme is formulated, make patient have in rehabilitation course more preferable effect and
Experience.
Specifically, the device of the healing hand function assessment of a kind of Divisional, including：
Multi-modal data acquisition module, including：Pressure, tactile and slip signals acquisition module and inertia sensing data acquisition
Module；
Multi-modal data pretreatment module, it is pre- by pressure, tactile and slip data preprocessing module and inertia sensing data
Processing module；It is to be gathered by sensor, hand exercise information is gathered by inertial sensor, by sensor piezoelectric modulus
Measurement can quantify standard, the movable information of hand Divisional can be quantified by inertial sensor；
Hand functional assessment index extraction and display module, quantizating index is carried out according to the data that normal group carries out grasp motion
Extract, and by comprehensive analysis, each index gives weight, formulates rehabilitation assessment scoring；
Feedback module, assessment result is fed back.
Preferably, quantizating index is extracted and included：Whether Divisional pressure accounts for total grip proportion in normal range (NR), Divisional pressure
Whether power changes in normal range (NR), and whether opposite prehensile equipments have slip and depart from, and when being grasped, whether Divisional is trembled
At least one in dynamic.
Preferably, Divisional index is extracted according to the data to being gathered without hand dysfunction personnel, the pressure of Divisional refers to
Mark (X1, X2 ... Xn), the tactile and sliding index (Y1, Y2 ... Yn, G1, G2 ... Gn) of Divisional and trembling for Divisional
Dynamic index (T1, T2 ... Tn)；Finally assess score：
C=W11*X1+W12*X2+ ... W1n*Xn+W21*Y1+W22*Y2+ ... W2n*Yn+W31*G1+W32*G2
+ ... W3n*Gn+W41*T1+W42*T2+ ... W4n*Tn, obtain rehabilitation assessment score, rehabilitation doctor according to objective evaluation index
Teacher is according to one threshold value of arrival standard of clinical rehabilitation level set.
Preferably, sensor uses electret piezoelectric.
Accordingly, the present invention also provides a kind of healing hand function real time evaluating method, including following steps：
Step A:Multi-modal data is gathered and pre-processed：Pressure signal, tactile and slip signals are gathered by sensor, hand
Portion's movable information is gathered by inertial sensor, can quantify standard by the measurement to sensor piezoelectric modulus, same
The movable information of hand Divisional can be quantified by inertial sensor, the spatial shape to gathering hand joint, finger, palm
Structural information, pressure signal, tactile and slip signals and its hand exercise information data carry out preliminary treatment；
Step B:Extracting hand carries out evaluation index during grasp motion：When hand carries out grasp motion, being closed collection hand more
Section, many fingers, palm multiple location information parameter is comprehensive then to extracting each Distribution Indexes weight that hand grasp motion is assessed
What each position of objective evaluation hand playing a part of in rehabilitation and needing play and act on, the evaluation of quantitative.
Step C:Extract hand-held continuous when carrying out grasp motion, assessed whether to slide or determine whether shake.
Preferably, in the step B, Divisional index is extracted according to the data to being gathered without hand dysfunction personnel, point
The pressure index (X1, X2 ... Xn) at position, the tactile and sliding index (Y1, Y2 ... Yn, G1, G2 ... Gn) of Divisional with
And the shake index (T1, T2 ... Tn) of Divisional.
Preferably, in the step B, in being assessed in healing hand function, according to the index significance level extracted with
And comprehensive analysis each index gives weight, weight W11, W12 ... ... the W1n of such as pressure index are according to Divisional pressure
Give from big to small.
Finally assess score：
C=W11*X1+W12*X2+ ... W1n*Xn+W21*Y1+W22*Y2+ ... W2n*Yn+W31*G1+W32*G2
+ ... W3n*Gn+W41*T1+W42*T2+ ... W4n*Tn, obtain rehabilitation assessment score, rehabilitation doctor according to objective evaluation index
Teacher is according to one threshold value of arrival standard of clinical rehabilitation level set.
Preferably, in the step C, extract hand-held continuous when carrying out grasp motion, can be produced when grasping for the first time one compared with
Big forward wave, and steady timing peak back to zero is grasped, when lasting grasping, if hand Divisional and grip device have relative slip
Sensor is unclamped by quickly contact, then contacts and unclamp again, thus it is quick produce size random but the less small peak of amplitude, use
In having assessed whether slip；The back of the hand is used to determine whether shake with inertial sensor.
Wherein, specifically include Divisional pressure and whether account for total grip proportion in normal range (NR), whether Divisional pressure change
In normal range (NR), whether opposite prehensile equipments have slip and depart from, and when being grasped, whether Divisional has shake.
Preferably, sensor uses electret piezoelectric.
In the method, the sensor that the piezo-electric electret thin film of selection is made, currently studies piezo-electric electret at home
It is relatively fewer, therefore the unified piezo-electric electret sensor production standard of neither one.Therefore, before using this film, all
Need to carry out material the measurement of electrology characteristic.
Q1 and Q2 are the quantities of electric charge before and after the object that Mkg is placed on sensor
The then piezoelectric coefficient d of this sensor=(Q2-Q1)/Mg.
The present invention is using palm when reflecting that hand carries out grasp motion and finger different parts to grip device mechanics vibration feelings
The technology of condition, it is palm and the contact of finger different parts opposite prehensile equipments and sliding condition that reflection hand carries out lasting grasp motion
Technology, and according to the experimenter's collection hand portion site pressure signal without hand dysfunction, tactile, slip signals and
The motor message data of Divisional, different weight and conjunctions are set using SPSS statistics softwares to palm and finger different parts
The dynamic range of reason, the patient of opponent's dysfunction is scored, and is more intuitively assessed for physiatrician provides, rehabilitation
Doctor can also carry out the scoring and performance of grasp motion according to patient, be that the patient with hand dysfunction formulates personalization
Rehabilitation scheme.
Brief description of the drawings
When Fig. 1 hands carry out grasp motion, healing hand function apparatus for evaluating and method block diagram.
Fig. 2 data acquisition modules and schematic diagram.
Fig. 3 data processing modules and schematic diagram.
The particular flow sheet that Fig. 4 healing hand functions are assessed and trained.
Fig. 5 healing hand functions assess information gathering and assessment system simulation drawing.
Specific embodiment
Below in conjunction with the accompanying drawings, preferably embodiment of the invention is described in further detail：
The present invention with clinical left-hand seat dysfunction in the case where the rehabilitation assessment of grasp motion and rehabilitation is carried out, with hand
The multimode of grasping quantifies to be evaluated as embodiment, is further elaborated." multimode " in this embodiment refers to reflection
The data that are gathered of technology of hand grasp motion activity, i.e., it is a kind of to be based on novel piezoelectric material sensors pressure signal, tactile and
Slip signals and inertia sensing technology, inertial sensor technology be mainly used in capture body motion information, with stability it is high,
The advantages of precision is high, integrated level is high.
Embodiment 1
The structured flowchart of the integrated device is as shown in figure 1, specific as follows in the present invention：
Step 1：Multi-modal data acquisition module
In this embodiment, the module contains the pressure based on novel piezoelectric material, tactile and slip signals collection mould
Block and inertia sensing data acquisition module, as shown in Figures 2 and 3.Novel piezoelectric pressure acquired for materials, tactile and slip letter
Number, reflecting hand carries out during grasp motion hand multiple location pressure information and persistently carries out hand dysfunction during grasp motion
Whether hand portion opposite prehensile equipments have slip and depart from；Inertia sensing data reflect hand dysfunction and carry out
The motion conditions at finger and other positions during grasp motion.The module is integrated by two kinds of independent acquisition modules, can not only
Realize that the data of both modalities which in real time, synchronously, are independently gathered, while the complexity of traditionally gatherer process is it also avoid,
More embody the idea of development of Integration ofTechnology, portability.
Step 2：Multi-modal data pretreatment module
In this embodiment, this module is mainly the number of the both modalities which for synchronously, independently being collected to above-mentioned module
According to being pre-processed, in order to follow-up treatment, as shown in figure 3, the module is by pressure, tactile and slip data prediction and is used to
Property sensing data pre-process two little modules composition.Wherein, to gather pressure data, tactile and slide data carry out denoising,
Inertia sensing data are filtered, denoising etc. by filtering process and quantization.
Step 3：Hand functional assessment index extraction and display module
In this embodiment, the module be mainly to collection normal group data pre-process, grabbed according to normal group
Whether the data for holding action carry out quantizating index extraction, specifically include Divisional pressure and account for total grip proportion in normal range (NR), point
Whether site pressure changes in normal range (NR), and whether opposite prehensile equipments have slip and depart from, and when being grasped, Divisional is
It is no to have shake, and by comprehensive analysis, each index gives weight, formulates rehabilitation assessment scoring.Accordingly, it is healing hand function
Quantifiable evaluation measures are provided.Wherein, the pressure, tactile and the slip data that pre-process are extracted with the pressure letter of Divisional in one's hands
Whether breath and opposite prehensile equipments have the information of slip, and the inertia sensing data to pre-processing are extracted when hand carries out grasp motion
Whether hand Divisional has the information of shake.Then each Distribution Indexes weight to the assessment of the healing hand function for extracting is commented
Assess a point display.
Step 4：Feedback module
When physiatrician is assessed healing hand function, hand function patient needs to carry out grasp motion, health to grip device
Multiple doctor can obtain an assessment result directly perceived, quantitative, and the pressure distribution in hand Divisional during grasp motion
Dynamic range and whether have jitter conditions for physiatrician provides more detailed information, be physiatrician according to different trouble
The sufferer situation of person formulates the rehabilitation scheme of individual character.
Embodiment 2
In the present invention, the flow of the specific implementation of this embodiment is as shown in figure 4, detailed step is as follows：
Step 1：Data acquisition is carried out first against normal group, acquisition target needs to sit quietly on chair vertically, Divisional
Inertial sensor is worn, arm carries out grasp motion to specific grip device with body into an angle of 90 degrees, starts multi-modal data
Synchronous acquisition, as shown in Figure 5.
Step 2：Multi-modal data to normal group collection is pre-processed.
Step 3：Multi-modal data to normal group collection is analyzed using the method for statistics, is then entered according to normal group
The multi-modal data of row grasp motion carries out quantizating index extraction, is extracted according to the data to being gathered without hand dysfunction personnel and divided
Position index, the pressure index (X1, X2 ... Xn) of Divisional, Divisional tactile and sliding index (Y1, Y2 ... Yn, G1,
G2 ... Gn) and Divisional shake index (T1, T2 ... Tn).
Step 4：In being assessed in healing hand function, according to the index significance level extracted and comprehensive analysis each
Index gives weight, and weight W11, W12 ... ... the W1n of such as pressure index are given from big to small according to Divisional pressure
's.
Step 5：Pressure index is that the pressure that should be undertaken according to Divisional and normal dynamic range give weight,
Tactile and sliding index are whether grip device to be contacted according to Divisional and slip gives weight, and shake index is entered according to hand
Row grasp when whether there is shake to give weight, by the inertial sensor of Divisional collect data be quantified as acceleration (A1,
A2 ... An), when Divisional has shake, Divisional Ai occurs a numerical value for positive anti-change, illustrates do not have as Ai=0
Shake, when Ai absolute values are bigger, illustrate that jitter phenomenon is more serious, and shaking index, smaller to finally result in score lower.Finally comment
Estimate score：
C=W11*X1+W12*X2+ ... W1n*Xn+W21*Y1+W22*Y2+ ... W2n*Yn+W31*G1+W32*G2
+ ... W3n*Gn+W41*T1+W42*T2+ ... W4n*Tn, obtain rehabilitation assessment score, rehabilitation doctor according to objective evaluation index
Teacher is according to one threshold value of arrival standard of clinical rehabilitation level set.
Step 6：Then for having hand dysfunction to be estimated, similarly, patient needs wanting according to step 1
Ask and sit quietly on chair vertically, Divisional wears inertial sensor, arm enters into an angle of 90 degrees with body to specific grip device
Row grasp motion, starts multi-modal data synchronous acquisition.
Step 7：Multi-modal data to synchronous acquisition is pre-processed.
Step 8：Extract healing hand function evaluation index.
Step 9：Rehabilitation assessment score is obtained according to objective evaluation index：
C=W11*X1+W12*X2+ ... W1n*Xn+W21*Y1+W22*Y2+ ... W2n*Yn+W31*G1+W32*G2
+ ... W3n*Gn+W41*T1+W42*T2+ ... W4n*Tn, physiatrician, both can be by human body according to clinical rehabilitation level
The non-objective standards such as morphologic evaluation, pain measurement, motor functional evaluation, sensory function evaluation set different rehabilitations etc.
Level, by normal group and the experiment with different brackets hand dysfunction and the comparing with clinical rehabilitation level, when
Scoring reaches more than 90 threshold values that can be considered rehabilitation.
Step 10：Hand Divisional information according to rehabilitation assessment score and feedback formulates the rehabilitation scheme of personalization for patient
Instruct rehabilitation training.
Step 11：, it is necessary to carry out rehabilitation assessment again after rehabilitation training after a while, then repeat step 6- steps 8.
Step 12：Rehabilitation is completed.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should be all considered as belonging to of the invention
Protection domain.
Claims (8)
1. the device that a kind of healing hand function of Divisional is assessed, it is characterised in that including：
Multi-modal data acquisition module, including：Pressure, tactile and slip signals acquisition module and inertia sensing data acquisition module
Block；
Multi-modal data pretreatment module, by pressure, tactile and slip data preprocessing module and inertia sensing data prediction
Module；Pressure, tactile and slip signals are gathered by sensor, bid can be quantified by the measurement to sensor piezoelectric modulus
Standard, hand exercise information is gathered by inertial sensor, and the movable information of hand Divisional can be quantified by inertial sensor；
Hand functional assessment index extraction and display module, the data for carrying out grasp motion according to normal group carry out quantizating index and carry
Take, and by comprehensive analysis, each index gives weight, formulates rehabilitation assessment scoring；
Feedback module, assessment result is fed back.
2. the device that the healing hand function of Divisional as claimed in claim 1 is assessed, it is characterised in that quantizating index extracts bag
Include：Whether Divisional pressure accounts for total grip proportion in normal range (NR), and whether Divisional pressure change is in normal range (NR), opposite prehensile
Whether device has slip and departs from, and when being grasped, whether Divisional has jitter conditions.
3. the device that the healing hand function of Divisional as claimed in claim 1 is assessed, it is characterised in that sensor uses electret
Body piezoelectric.
4. a kind of healing hand function real time evaluating method, including following steps：
Step A:Multi-modal data is gathered and pre-processed：Pressure signal, tactile and slip signals are gathered by sensor, hand fortune
Dynamic information is gathered by inertial sensor, can quantify standard by the measurement to sensor piezoelectric modulus, and same passes through
Inertial sensor can quantify the movable information of hand Divisional, the spatial form and structure to gathering hand joint, finger, palm
Information, pressure signal, tactile and slip signals and its hand exercise information data carry out preliminary treatment；
Step B:Extracting hand carries out evaluation index during grasp motion：When hand carries out grasp motion, hand multi-joint is gathered, it is many
Finger, palm multiple location information parameter is comprehensively objective to comment then to extracting each Distribution Indexes weight that hand grasp motion is assessed
Estimate each position of hand playing a part of in rehabilitation and need that what effect, the evaluation of quantitative played.
Step C:Extract hand-held continuous when carrying out grasp motion, assessed whether to slide or determine whether shake.
5. the method that the healing hand function of Divisional as claimed in claim 1 is assessed, it is characterised in that in the step B, root
In being assessed in healing hand function, weight is given according to the index significance level extracted and comprehensive analysis each index, pressed
Weight W11, W12 ... ... the W1n of power index gives from big to small according to Divisional pressure.
6. the method that the healing hand function of Divisional as claimed in claim 5 is assessed, it is characterised in that in the step B, root
Divisional index is extracted according to the data to being gathered without hand dysfunction personnel, the pressure index (X1, X2 ... Xn) of Divisional divides
The tactile and sliding index (Y1, Y2 ... Yn, G1, G2 ... Gn) and shake index (T1, the T2 ... of Divisional at position
Tn)。
7. the method that the healing hand function of Divisional as claimed in claim 4 is assessed, it is characterised in that assessment score：C=
W11*X1+W12*X2+……W1n*Xn+W21*Y1+W22*Y2+……W2n*Yn+W31*G1+W32*G2+……W3n*Gn+
W41*T1+W42*T2+ ... W4n*Tn, rehabilitation assessment score is obtained according to objective evaluation index.
8. the method that the healing hand function of Divisional as claimed in claim 4 is assessed, it is characterised in that in the step C, carry
Take it is hand-held it is continuous can produce a forward wave when grasping for the first time when carrying out grasp motion, and steady timing peak back to zero is grasped, when holding
During continuous grasping, if hand Divisional and grip device have relative slide sensor to be unclamped by quickly contact, then pine again is contacted
Open, therefore the random still little small peak of amplitude of quick generation size, for having assessed whether slip；Inertial sensor is used to sentence
It is disconnected whether to have shake.
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Cited By (5)
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| CN109603107A (en) * | 2019-01-30 | 2019-04-12 | 中国人民解放军陆军军医大学第附属医院 | Finger holding power recovery training appliance for recovery |
| CN109603113A (en) * | 2018-12-24 | 2019-04-12 | 北京申润通科技有限公司 | A kind of slow sick exercise rehabilitation training method |
| CN109758124A (en) * | 2019-01-23 | 2019-05-17 | 西安交通大学 | A kind of method for objectively evaluating and device and system of healing hand function |
| CN116110585A (en) * | 2023-04-04 | 2023-05-12 | 北大医疗淄博医院有限公司 | Respiratory rehabilitation evaluation system for chronic obstructive pneumonia |
| CN117898710A (en) * | 2024-03-18 | 2024-04-19 | 华中科技大学 | Device for determining abnormal hand movement based on finger movement signals |
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