CN107789803A - A kind of cerebral apoplexy rehabilitation training of upper limbs method and system - Google Patents

A kind of cerebral apoplexy rehabilitation training of upper limbs method and system Download PDF

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Publication number
CN107789803A
CN107789803A CN201711046995.5A CN201711046995A CN107789803A CN 107789803 A CN107789803 A CN 107789803A CN 201711046995 A CN201711046995 A CN 201711046995A CN 107789803 A CN107789803 A CN 107789803A
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hand
virtual
action
scene
patient
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CN107789803B (en
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蒋晟
吴剑煌
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/0647—Visualisation of executed movements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/0658—Position or arrangement of display
    • A63B2071/0661—Position or arrangement of display arranged on the user
    • A63B2071/0666—Position or arrangement of display arranged on the user worn on the head or face, e.g. combined with goggles or glasses
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/836—Sensors arranged on the body of the user

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Multimedia (AREA)
  • Rehabilitation Tools (AREA)

Abstract

A kind of cerebral apoplexy rehabilitation training of upper limbs method and system, including：Construct virtual rehabilitation training scene；The dynamic data of patient hand's coordinate is gathered, the positional information of the dynamic data and hand motion object is handled, the action of hand is identified by result, the action and scene for making hand interact, to complete the required movement of rehabilitation training；Pass through action of the virtual implementing helmet real-time display hand in virtual reality rehabilitation training scene.The application gathers hand coordinate by motion sensing control device, not only cheap, and accuracy is high, without calibrating in advance, scene content is interesting, and the strong virtual reality device feeling of immersion of feeling of immersion is strong, patient is set constantly to be encouraged in rehabilitation training, so as to adhere to rehabilitation training for a long time.

Description

A kind of cerebral apoplexy rehabilitation training of upper limbs method and system
Technical field
The application is related to medical health field, more particularly to a kind of cerebral apoplexy rehabilitation training of upper limbs method and system.
Background technology
The central nervous system diseases such as cerebral apoplexy are to cause a major reason of deformity.Most of patient's post-stroke meeting There is disorder of limb's activity even handicap.And the exercise rehabilitation training that post-stroke early stage starts can be reduced farthest Physical disabilities probability.Traditional rehabilitation training is that the human assistance that patient is carried out is trained one to one by physiatrician, but Due to serious deficient (current national rehabilitation teacher and the ratio only up to 0.4 of demand population of physiatrician:100000 people) so that people The mode of work supplemental training because supply falls short of demand and efficiency is low, traditional rehabilitation training is more uninteresting in addition so that patient is long-term Adhere to that the wish of rehabilitation training weakens.Patient can not obtain effective rehabilitation training in time in post-stroke early stage, can cause again The probability increase of patient disabilities.
Virtual reality applications are a good solution in terms of exercise rehabilitation training.Virtual rehabilitation training, can Reduce the degree of dependence of rehabilitation teacher, it might even be possible to realize the rehabilitation of patient house.And virtual rehabilitation training scene can make original This uninteresting training becomes interesting so that patient can adhere to training.
The virtual rehabilitation training system scheme of upper limbs is including the use of data glove equipment and Kinect device at present.Data hand Set is a kind of wearable device, can detect the movable information of hand, can be realized in virtual scene and touch, captures, releasing The action such as put.The data glove of main flow includes Fiber-optic Sensors with Data gloves and force feedback data gloves at present.Fibre optical sensor Data glove measurement is accurate, can accurately reflect hand exercise information.Force feedback data gloves are except that can detect hand Outside movable information, touch feedback can also be realized so that hand can experience the force feedback of virtual reality.But data hand It is high to cover price, largely adds the cost of rehabilitation training system, and needs progress action correction before use every time, no Beneficial to the realization of house rehabilitation.
Kinect is the somatosensory device that Microsoft produces, can containing a colour imagery shot and a depth camera With the skeleton tracking and depth information using Kinect come detect and track human motion.Can be by sentencing to the similarity of action It is disconnected, to carry out gesture or action recognition.Kinect can make detection, but accuracy deficiency to the motion of whole body, and it is to details The detection of action is not accurate enough, sensitive.Motion such as to finger can not be identified accurately, can not carry out the rehabilitation training of finger.
The content of the invention
The application provides a kind of cerebral apoplexy rehabilitation training of upper limbs method and system.
According to the application's in a first aspect, the application provides a kind of cerebral apoplexy rehabilitation training of upper limbs method, including：
Construct virtual rehabilitation training scene；
The dynamic data of patient hand's coordinate is gathered, the positional information of the dynamic data and hand motion object is carried out Processing, the action of hand is identified by result, virtual hand is mapped out in virtual scene, makes action and the scene of hand Interact, to complete the required movement of rehabilitation training；
Pass through action of the virtual reality device real-time display hand in virtual reality rehabilitation training scene.
In the above method, the action that hand is identified by result, specifically include：
If the distance between virtual hand H and hand motion object A in scene is dHA；
Work as dHAWhen≤0, it is determined as that virtual hand is touched with the hand motion object.
In the above method, the action that hand is identified by result, in addition to：
Work as dHAWhen≤0, and the distance between thumb T and forefinger I of virtual hand dTILess than the first preset value, it is determined as Virtual hand has grabbed certain objects, and the certain objects are now bound to the sub- object of virtual hand, the specific thing Body is with virtual hand movement and rotation.
In the above method, the action that hand is identified by result, in addition to：
In the state of grasping movement, work as dTIDuring more than the second preset value, it is described specific to be determined as that virtual hand releases Object, now by the certain objects from the sub- object of virtual hand it is unbinding, object does not move followed by virtual hand And rotation.
In the above method, the action that hand is identified by result, in addition to：
In the given time, when virtual hand forefinger highest z-axis coordinate zi1The z-axis coordinate z minimum with iti2It Between distance dizDuring more than three preset values, and the highest z-axis coordinate z of wrist jointw1With the minimum z-axis of wrist joint Coordinate zw2The distance between dwzDuring less than four preset values, the action bounced the ball is identified as.
It is described that virtual hand is mapped out in virtual scene in the above method, specifically include：
The dynamic data of patient hand's coordinate includes the coordinate information of patient hand's joint position；
Virtual hand is mapped out by relevant position of the joint coordinates information in virtual scene, make hand posture and Relative position in reality with being consistent.
In the above method, in addition to：
When virtual hand and virtual reality rehabilitation training scene interact, the object in scene is encountered when virtual hand When, send the prompt message for having touched object.
In the above method, in addition to：
Establish action and the quantization corresponding relation of the quick evaluation assessment in upper field of hand and upper limbs part；
According to the dynamic data of patient hand's coordinate, judging posture, angle, speed and the scope of hand and upper extremity exercise is The no requirement for having reached the quick evaluation assessment middle finger accepted opinion in upper field and having estimated action；
Execution is assessed according to judged result.
According to the second aspect of the application, the application provides a kind of cerebral apoplexy rehabilitation training of upper limbs system, including：
Motion sensing control device, for obtaining the dynamic data of patient hand's coordinate；
Intelligent terminal, including processing module, for gathering the dynamic data of patient hand's coordinate, to the dynamic data and The positional information of hand motion object is handled, and the action of hand is identified by result, is mapped out in virtual scene Virtual hand, the action and scene for making hand interact, to complete the required movement of rehabilitation training；
Virtual reality device, for action of the real-time display hand in virtual reality rehabilitation training scene.
In said system, if the distance between virtual hand H and hand motion object A in scene is dHA；
The processing module is additionally operable to, and works as dHAWhen≤0, it is determined as that virtual hand occurs to touch with the hand motion object Touch.
In said system, the processing module is additionally operable to, and works as dHAWhen≤0, and between the thumb T and forefinger I of virtual hand Distance dTILess than the first preset value, it is determined as that virtual hand has grabbed certain objects, now binds the certain objects For the sub- object of virtual hand, the certain objects are with virtual hand movement and rotation.
In said system, the processing module is additionally operable to, and in the state of grasping movement, works as dTIMore than the second preset value When, it is determined as that virtual hand releases the certain objects, now solves the certain objects from the sub- object of virtual hand Except binding, object is not followed by virtual hand movement and rotation.
In said system, the processing module is additionally operable to, in the given time, as the highest z of the forefinger of virtual hand Axial coordinate zi1The z-axis coordinate z minimum with iti2The distance between dizDuring more than three preset values, and the highest z of wrist joint Axial coordinate zw1With the minimum z-axis coordinate z of wrist jointw2The distance between dwzDuring less than four preset values, it is identified as what is bounced the ball Action.
In said system, the dynamic data of patient hand's coordinate includes the coordinate information of patient hand's joint position；
The processing module is additionally operable to, and void is mapped out by relevant position of the joint coordinates information in virtual scene The hand of plan, make hand posture and relative position with reality in be consistent.
In said system, in addition to arm band vibrating sensor, in virtual hand and virtual reality rehabilitation training scene When interacting, when virtual hand encounters the object in scene, the prompt message for having touched object is sent.
In said system, the intelligent terminal also includes evaluation module, for establish the action of hand and upper limbs part with The quantization corresponding relation of the upper quick evaluation assessment in field；According to the dynamic data of patient hand's coordinate, the appearance of hand and upper extremity exercise is judged Whether gesture, angle, speed and scope have reached the requirement that the quick evaluation assessment middle finger accepted opinion in upper field estimates action；According to judged result to dynamic Assessed as performance..
As a result of above technical scheme, it is the beneficial effect that the application possesses：
(1) in the embodiment of the application, due to including constructing virtual rehabilitation training scene；By to patient The dynamic data of hand coordinate and the positional information of hand motion object are handled, and identify the action of hand, make the dynamic of hand Work interacts with scene, to complete the required movement of rehabilitation training；The application gathers hand coordinate by motion sensing control device, no It is only cheap, and accuracy is high, without calibration in advance, scene content is interesting, and the strong virtual reality device feeling of immersion of feeling of immersion is strong, Patient is set constantly to be encouraged in rehabilitation training, so as to adhere to rehabilitation training for a long time.
(2) in the embodiment of the application, the application can automatically generate assessment report after patient completes training, Solve the problems, such as in the prior art can only by doctor's manual evaluation, avoid assessment by doctor's subjective impact it is big the problem of, not only The accuracy of assessment is improved, also a saving cost of labor.
Brief description of the drawings
Fig. 1 is the flow chart of the present processes in one embodiment；
Fig. 2 is that the present processes identify touching, crawl, the flow chart of release movement in one embodiment；
Fig. 3 is the flow chart that the present processes identify action of bouncing the ball in one embodiment；
Fig. 4 is the high-level schematic functional block diagram of the system of the application in one embodiment；
Fig. 5 is the use state diagram of the system of the application in one embodiment；
Fig. 6 is the high-level schematic functional block diagram of the system of the application in another embodiment.
Embodiment
The application is described in further detail below by embodiment combination accompanying drawing.
Embodiment one：
As shown in figure 1, the cerebral apoplexy rehabilitation training of upper limbs method of the application, a kind of its embodiment, comprises the following steps：
Step 102：Construct virtual rehabilitation training scene.
Constructing the mode of virtual rehabilitation training scene has a variety of, in the present embodiment, can specifically be taken by Unity3D Virtual reality rehabilitation training scene is built, scene corresponds to different rehabilitation exercise motions respectively, such as finger hook-shaped grasping, side pinch and pine Open the spherical and cylindric grasping of thumb, finger, the interior receipts of upper limbs horizontal abduction, elbow joint is bent and stretched, upper limbs moves horizontally and remembers Training etc..
Step 104：The dynamic data of patient hand's coordinate is gathered, to the position of the dynamic data and hand motion object Information is handled, and the action of hand is identified by result, virtual hand is mapped out in virtual scene, makes the dynamic of hand Work interacts with scene, to complete the required movement of rehabilitation training.
The application can gather the dynamic data of patient hand's coordinate in several ways.In the present embodiment, specifically may be used Patient hand's coordinate information is obtained by Leap Mot ion, then relevant position is reflected with these coordinate informations in virtual scene Virtual hand is projected, its posture and relative position are consistent with the palmistry of actual patient.
Wherein, virtual hand is mapped out in virtual scene, can specifically be included：
The dynamic data of patient hand's coordinate includes the coordinate information of patient hand's joint position；
Virtual hand is mapped out by relevant position of the joint coordinates information in virtual scene, makes the posture of hand and relative Position in reality with being consistent.
Coordinate information can include multiple joint coordinates information of single hand, in 29 joints as hand may be selected The coordinate information in all or part of joint, in the present embodiment specifically may be selected 29 joints coordinate information (x1, y1, Z1), (x2, y2, z2) ... ..., (x29, y29, z29), then relevant position is mapped with these coordinate informations in virtual scene Go out virtual hand, its posture and relative position are consistent with the palmistry of actual patient.
Step 106：Pass through action of the virtual reality device real-time display hand in virtual reality rehabilitation training scene.
Virtual reality rehabilitation training scene and virtual hand are shown in virtual reality device, in a kind of embodiment party In formula, virtual implementing helmet can be selected, patient is obtained feeling of immersion on the spot in person.
In the cerebral apoplexy rehabilitation training of upper limbs method of the application, the action of hand is identified by result, can be included：
If the distance between virtual hand H and hand motion object A in scene is dHA, work as dHAWhen≤0, it is determined as void The hand of plan is touched with the hand motion object.In one embodiment, feedback dress can be sent a signal to by bluetooth Put, the feedback device for being worn on patient's hand sends and once vibrated, and prompts patient to touch object.In a kind of embodiment In, arm band vibrating sensor can be selected in feedback device.
In one embodiment, the action of hand is identified by result, can also be included：
Work as dHAWhen≤0, and the distance between thumb T and forefinger I of virtual hand dTILess than the first preset value N1, judge Certain objects have been grabbed for virtual hand, certain objects have now been bound to the sub- object of virtual hand, certain objects are with void The hand of plan is mobile and rotates.First preset value N1 can specifically be set as needed.
In one embodiment, the action of hand is identified by result, can also be included：
In the state of grasping movement, work as dTIDuring more than the second preset value N2, it is determined as that virtual hand releases specific thing Body, now by certain objects from the sub- object of virtual hand it is unbinding, object is followed by virtual hand is mobile and rotation. Second preset value N2 can specifically be set as needed.
In the present processes, virtual hand encounters object and the identification process of grasping movement and release movement in scene Figure is as shown in Figure 2.
In one embodiment, the action of hand is identified by result, can also be included：
In scheduled time T, as the highest z-axis coordinate z of the forefinger of virtual handi1The z-axis coordinate z minimum with iti2It Between distance dizDuring more than the 3rd preset value N3, and the highest z-axis coordinate z of wrist jointw1With the minimum z of wrist joint Axial coordinate zw2The distance between dwzDuring less than the 4th preset value N4, the action bounced the ball is identified as.Wherein, scheduled time T, the 3rd Preset value N3 and the 4th preset value N4 can be set as needed.Identify that the flow chart bounced the ball is as shown in Figure 3.
The application can identify the tool sold according to the dynamic change of the Leap Motion patient hand's coordinate informations gathered The action of body, such as capture, discharge, bounce the ball, then interacted by virtual hand with scene.During interaction, when virtual hand When encountering the object in scene, vibrational feedback can be sent by being worn on the feedback device of patient on hand, prompt patient Object is touched.
Game is formed by above-mentioned elemental motion, such as touching object, grasping movement, release movement may be constructed training hand Refer to the scene grasped, the action carpal scene of composing training of bouncing the ball.Scenario Design is inflating ball, plucks apple, beats timber etc. one Each and every one interesting trivial games, score can all send incentive audio and picture special efficacy every time in game process, allow patient in health Refreshment is constantly encouraged during practicing, and allows the focus of patient to be shifted from the pain of rehabilitation exercise, so as to long-term Adhere to rehabilitation training.
The cerebral apoplexy rehabilitation training of upper limbs method of the application, can also comprise the following steps：
When virtual hand and virtual reality rehabilitation training scene interact, the object in scene is encountered when virtual hand When, send the prompt message for having touched object.
In one embodiment, the cerebral apoplexy rehabilitation training of upper limbs method of the application, can also include：
Establish action and the quantization corresponding relation of the quick evaluation assessment in upper field of hand and upper limbs part；
According to the dynamic data of patient hand's coordinate, judging posture, angle, speed and the scope of hand and upper extremity exercise is The no requirement for having reached the quick evaluation assessment middle finger accepted opinion in upper field and having estimated action；
Execution is assessed according to judged result.
The dynamic data of patient hand's coordinate can specifically include the dynamic coordinate in the multiple joints of patient hand.
Using, it is necessary to register login user, each user name corresponds to a patient, appraisal procedure and upper Tian Min during the application The action of evaluation assessment hand and upper limbs part is combined, and the situation for completing to specify assessment to act according to patient, is assessed automatically, Restoration stage grade of the patient in the quick evaluation assessment in upper field, generation visualization assessment report are calculated, report is available for physiatrician With reference to.
Appraisal procedure is as follows：The project of each upper quick evaluation assessment hand in field and upper limbs part is scored at 0 to 2 points, wherein, no It may complete to obtain 0 point, it is insufficient to complete to obtain 1 point, fully complete to obtain 2 points；The Restoration stage grade of patient is from 1 grade to 12 grades；If Patient reaches 2 points in association response project score, and the Restoration stage grade of patient is chosen as 1 grade by the corresponding upper quick evaluation assessment in field； If patient reaches 2 points in arbitrarily contraction project score, the Restoration stage grade of patient is chosen as 2 grades；If patient is in synkinesia Project score reaches 1 point, and the Restoration stage grade of patient is chosen as into 3 grades；If patient reaches 2 points in synkinesia project score, Restoration stage grade is chosen as 4 grades；If patient reaches 3 points in synkinesia project score, Restoration stage grade is chosen as 5 grades；If suffer from Person reaches 4 points in synkinesia project score, and Restoration stage grade is chosen as 6 grades；If patient is being partially separated sports events score Reach 2 points, and score occurs without 0 point in each event, Restoration stage grade is chosen as 7 grades；If patient is being partially separated motion item Mesh score reaches 4 points, and Restoration stage grade is chosen as 8 grades；If patient reaches 2 points, and each event in disengaging movement project score Middle score occurs without 0 point, and Restoration stage grade is chosen as 9 grades；If patient reaches 4 points in disengaging movement project score, and each small Score occurs without 0 point in, and Restoration stage grade is chosen as 10 grades；If patient reaches 6 points in disengaging movement project score, recover rank Section grade is chosen as 11 grades；If patient reaches 6 points in speed inspection project score, and meets rate request, Restoration stage grade is commented For 12 grades.
Embodiment two：
As shown in Figures 4 to 6, the cerebral apoplexy rehabilitation training of upper limbs system of the application, a kind of its embodiment, including body-sensing Controller 10, intelligent terminal 20 and virtual reality device 30.Motion sensing control device 10, for obtaining the dynamic number of patient hand's coordinate According to；Intelligent terminal 20, including processing module 21, the dynamic data of patient hand's coordinate is gathered, to dynamic data and hand motion The positional information of object is handled, and the action of hand is identified by result, virtual hand is mapped out in virtual scene, The action and scene for making hand interact, to complete the required movement of rehabilitation training.Intelligent terminal 20 can select computer Or handheld terminal etc., handheld terminal include mobile phone, PAD etc..Virtual reality device 30, for real-time display hand in virtual reality Virtual implementing helmet or other can be selected in action in rehabilitation training scene, virtual reality device 30
In one embodiment, the system of the application can also include arm band vibrating sensor 40, arm band vibrating sensing Device 40 is used to, when virtual hand and virtual reality rehabilitation training scene interact, the object in scene is encountered when virtual hand When, send the prompt message for having touched object.
The cerebral apoplexy rehabilitation training of upper limbs system of the application, if between hand motion object A in virtual hand H and scene Distance be dHA；Processing module can be also used for, and work as dHAWhen≤0, it is determined as that virtual hand occurs to touch with hand motion object Touch.
In one embodiment, processing module can be also used for, and work as dHAWhen≤0, and the thumb T and forefinger of virtual hand The distance between I dTILess than the first preset value, it is determined as that virtual hand has grabbed certain objects, now binds certain objects For the sub- object of virtual hand, certain objects are with virtual hand movement and rotation.First preset value N1 can specifically enter as needed Row setting.
In another embodiment, processing module can be also used for, and in the state of grasping movement, work as dTIMore than second During preset value, it is determined as that virtual hand releases certain objects, now releases certain objects from the sub- object of virtual hand Binding, object is not followed by virtual hand movement and rotation.Second preset value N2 can specifically be set as needed.
The cerebral apoplexy rehabilitation training of upper limbs system of the application, processing module can be also used for, in the given time, when virtual Hand forefinger highest z-axis coordinate zi1The z-axis coordinate z minimum with iti2The distance between dizDuring more than three preset values, And the highest z-axis coordinate z of wrist jointw1With the minimum z-axis coordinate z of wrist jointw2The distance between dwzIt is pre- less than the 4th If during value, the action bounced the ball is identified as.Wherein, scheduled time T, the 3rd preset value N3 and the 4th preset value N4 can be as needed Set.
In one embodiment, the dynamic data of patient hand's coordinate includes the coordinate letter of patient hand's joint position Breath；Processing module can be also used for, and maps out virtual hand by relevant position of the joint coordinates information in virtual scene, makes The posture and relative position of hand in reality with being consistent.
Coordinate information can include multiple joint coordinates information of single hand, in 29 joints as hand may be selected The coordinate information in all or part of joint, in the present embodiment specifically may be selected 29 joints coordinate information (x1, y1, Z1), (x2, y2, z2) ... ..., (x29, y29, z29), then relevant position is mapped with these coordinate informations in virtual scene Go out virtual hand, its posture and relative position are consistent with the palmistry of actual patient.
In another embodiment, intelligent terminal 20 can also include evaluation module 22, and evaluation module 22 is used to establish The action of hand and upper limbs part and the quantization corresponding relation of the quick evaluation assessment in upper field；According to the dynamic data of patient hand's coordinate, Judge whether posture, angle, speed and the scope of hand and upper extremity exercise have reached the quick evaluation assessment middle finger accepted opinion in upper field and estimated action Requirement；Execution is assessed according to judged result.The dynamic data of patient hand's coordinate can specifically include The dynamic coordinate in the multiple joints of patient hand.Evaluation module is combined with the quick evaluation assessment hand in upper field and upper limbs part, automatic raw Into assessment report, the Restoration stage grade of patient is determined.
Using, it is necessary to register login user, each user name corresponds to a patient, appraisal procedure and upper Tian Min during the application Evaluation assessment hand and upper limbs part are combined, and the situation for completing to specify assessment to act according to patient, are assessed, calculated automatically Restoration stage grade of the patient in the quick evaluation assessment in upper field, generation visualization assessment report, report are available for physiatrician to refer to.
Appraisal procedure is as follows：The project of each upper quick evaluation assessment hand in field and upper limbs part is scored at 0 to 2 points, wherein, no It may complete to obtain 0 point, it is insufficient to complete to obtain 1 point, fully complete to obtain 2 points；The Restoration stage grade of patient is from 1 grade to 12 grades；If Patient reaches 2 points in association response project score, and the Restoration stage grade of patient is chosen as 1 grade by the corresponding upper quick evaluation assessment in field； If patient reaches 2 points in arbitrarily contraction project score, the Restoration stage grade of patient is chosen as 2 grades；If patient is in synkinesia Project score reaches 1 point, and the Restoration stage grade of patient is chosen as into 3 grades；If patient reaches 2 points in synkinesia project score, Restoration stage grade is chosen as 4 grades；If patient reaches 3 points in synkinesia project score, Restoration stage grade is chosen as 5 grades；If suffer from Person reaches 4 points in synkinesia project score, and Restoration stage grade is chosen as 6 grades；If patient is being partially separated sports events score Reach 2 points, and score occurs without 0 point in each event, Restoration stage grade is chosen as 7 grades；If patient is being partially separated motion item Mesh score reaches 4 points, and Restoration stage grade is chosen as 8 grades；If patient reaches 2 points, and each event in disengaging movement project score Middle score occurs without 0 point, and Restoration stage grade is chosen as 9 grades；If patient reaches 4 points in disengaging movement project score, and each small Score occurs without 0 point in, and Restoration stage grade is chosen as 10 grades；If patient reaches 6 points in disengaging movement project score, recover rank Section grade is chosen as 11 grades；If patient reaches 6 points in speed inspection project score, and meets rate request, Restoration stage grade is commented For 12 grades.
Above content is to combine the further description that specific embodiment is made to the application, it is impossible to assert this Shen Specific implementation please is confined to these explanations.For the application person of an ordinary skill in the technical field, do not taking off On the premise of conceiving from the application, some simple deduction or replace can also be made.

Claims (16)

  1. A kind of 1. cerebral apoplexy rehabilitation training of upper limbs method, it is characterised in that including：
    Construct virtual rehabilitation training scene；
    The dynamic data of patient hand's coordinate is gathered, at the positional information of the dynamic data and hand motion object Reason, the action of hand is identified by result, virtual hand is mapped out in virtual scene, the action and scene for making hand are entered Row interaction, to complete the required movement of rehabilitation training；
    Pass through action of the virtual reality device real-time display hand in virtual reality rehabilitation training scene.
  2. 2. the method as described in claim 1, it is characterised in that the action that hand is identified by result, specific bag Include：
    If the distance between virtual hand H and hand motion object A in scene is dHA；
    Work as dHAWhen≤0, it is determined as that virtual hand is touched with the hand motion object.
  3. 3. method as claimed in claim 2, it is characterised in that the action that hand is identified by result, in addition to：
    Work as dHAWhen≤0, and the distance between thumb T and forefinger I of virtual hand dTILess than the first preset value, it is determined as virtual Hand has grabbed certain objects, the certain objects is now bound to the sub- object of virtual hand, the certain objects are with void The hand of plan is mobile and rotates.
  4. 4. method as claimed in claim 3, it is characterised in that the action that hand is identified by result, in addition to：
    In the state of grasping movement, work as dTIDuring more than the second preset value, it is determined as that virtual hand releases the certain objects, Now by the certain objects from the sub- object of virtual hand it is unbinding, object is followed by virtual hand is mobile and rotation Turn.
  5. 5. method as claimed in claim 2, it is characterised in that the action that hand is identified by result, in addition to：
    In the given time, when virtual hand forefinger highest z-axis coordinate zi1The z-axis coordinate z minimum with iti2Between away from From dizDuring more than three preset values, and the highest z-axis coordinate z of wrist jointw1With the minimum z-axis coordinate z of wrist jointw2 The distance between dwzDuring less than four preset values, the action bounced the ball is identified as.
  6. 6. the method as described in claim 1, it is characterised in that described that virtual hand is mapped out in virtual scene, specific bag Include：
    The dynamic data of patient hand's coordinate includes the coordinate information of patient hand's joint position；
    Virtual hand is mapped out by relevant position of the joint coordinates information in virtual scene, makes the posture of hand and relative Position in reality with being consistent.
  7. 7. the method as described in claim 1, it is characterised in that also include：
    When virtual hand and virtual reality rehabilitation training scene interact, when virtual hand encounters the object in scene, Send the prompt message for having touched object.
  8. 8. the method as any one of claim 1 to 7, it is characterised in that also include：
    Establish action and the quantization corresponding relation of the quick evaluation assessment in upper field of hand and upper limbs part；
    According to the dynamic data of patient hand's coordinate, judge whether posture, angle, speed and the scope of hand and upper extremity exercise reach The requirement of action is estimated to the quick evaluation assessment middle finger accepted opinion in upper field；
    Execution is assessed according to judged result.
  9. A kind of 9. cerebral apoplexy rehabilitation training of upper limbs system, it is characterised in that including：
    Motion sensing control device, for obtaining the dynamic data of patient hand's coordinate；
    Intelligent terminal, including processing module, for gathering the dynamic data of patient hand's coordinate, to the dynamic data and hand The positional information of action object is handled, and the action of hand is identified by result, is mapped out in virtual scene virtual Hand, the action and scene for making hand interact, to complete the required movement of rehabilitation training；
    Virtual reality device, for action of the real-time display hand in virtual reality rehabilitation training scene.
  10. 10. system as claimed in claim 9, it is characterised in that set hand motion object A in virtual hand H and scene it Between distance be dHA；
    The processing module is additionally operable to, and works as dHAWhen≤0, it is determined as that virtual hand is touched with the hand motion object.
  11. 11. system as claimed in claim 10, it is characterised in that the processing module is additionally operable to, and works as dHAWhen≤0, and virtually The distance between the thumb T and forefinger I of hand dTILess than the first preset value, it is determined as that virtual hand has grabbed certain objects, The certain objects are now bound to the sub- object of virtual hand, the certain objects are with virtual hand movement and rotation.
  12. 12. system as claimed in claim 11, it is characterised in that the processing module is additionally operable to, in the state of grasping movement Under, work as dTIDuring more than the second preset value, be determined as that virtual hand releases the certain objects, now by the certain objects from Unbinding in the sub- object of virtual hand, object is not followed by virtual hand movement and rotation.
  13. 13. system as claimed in claim 10, it is characterised in that the processing module is additionally operable to, and in the given time, works as void The highest z-axis coordinate z of the forefinger of the hand of plani1The z-axis coordinate z minimum with iti2The distance between dizMore than the 3rd preset value When, and the highest z-axis coordinate z of wrist jointw1With the minimum z-axis coordinate z of wrist jointw2The distance between dwzLess than During four preset values, the action bounced the ball is identified as.
  14. 14. system as claimed in claim 9, it is characterised in that the dynamic data of patient hand's coordinate includes patient's hand The coordinate information of portion's joint position；
    The processing module is additionally operable to, and is mapped out by relevant position of the joint coordinates information in virtual scene virtual Hand, make hand posture and relative position with reality in be consistent.
  15. 15. system as claimed in claim 9, it is characterised in that also including arm band vibrating sensor, for virtual hand with When virtual reality rehabilitation training scene interacts, when virtual hand encounters the object in scene, send and touched thing The prompt message of body.
  16. 16. system as claimed in claim 9, it is characterised in that the intelligent terminal also includes evaluation module, for establishing hand The action of portion and upper limbs part and the quantization corresponding relation of the quick evaluation assessment in upper field；According to the dynamic data of patient hand's coordinate, sentence Whether posture, angle, speed and the scope of portion and upper extremity exercise of cutting off the hands has reached the quick evaluation assessment middle finger accepted opinion in upper field and estimates action It is required that；Execution is assessed according to judged result.
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