CN109126045A - intelligent motion analysis and training system - Google Patents
intelligent motion analysis and training system Download PDFInfo
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- CN109126045A CN109126045A CN201811153563.9A CN201811153563A CN109126045A CN 109126045 A CN109126045 A CN 109126045A CN 201811153563 A CN201811153563 A CN 201811153563A CN 109126045 A CN109126045 A CN 109126045A
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
- A61B5/1128—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using image analysis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/40—Detecting, measuring or recording for evaluating the nervous system
- A61B5/4005—Detecting, measuring or recording for evaluating the nervous system for evaluating the sensory system
- A61B5/4023—Evaluating sense of balance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4803—Speech analysis specially adapted for diagnostic purposes
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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
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- Heart & Thoracic Surgery (AREA)
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- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Audiology, Speech & Language Pathology (AREA)
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Abstract
The invention discloses a kind of intelligent motion analysis and training systems, it is characterised in that: including work of rehabilitation station and treatment control system；The work of rehabilitation station includes rack, and upper limb trainer material and leg training equipment are provided in rack；Sensor group, video camera, touch display and station are provided in rack；Master hosts are provided in station.The treatment control system includes the sound acquisition module for being mounted on the rack and connecting master hosts, Posture acquisition module, surface muscle acquisition module, power module, signal transmission module, Data Storage, signal analysis and processing module, data disaply moudle, sound feedback module.The present invention is capable of providing convenient rehabilitation.After medical worker can select treatment process according to the needs of patient, while patient can voluntarily complete entirely to treat, and instruct without medical worker on side.
Description
Technical field
The invention belongs to rehabilitation exercise treatment system fields, more specifically to a kind of intelligent motion analysis and instruction
Practice system.
Background technique
For the patient of some upper and lower extremities dyskinesia, rehabilitation training system restores to play an important role to it.Generally,
Rehabilitation training system includes pedestal, upper extremity exercise component and lower extremity movement component, specifically, upper extremity exercise component includes being used for
Make patient hold handle portion, in the training process, patient can hold handle portion, under the driving of the driving mechanisms such as motor with
Handle portion movement, to achieve the purpose that trained.But present rehabilitation system has a single function, intelligence degree is not high.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of intelligent motion analysis and training
System, design rationally, realize the intelligentized control method of rehabilitation, by comprehensive coordination using various measures, eliminate or mitigate disease wound
The body and mind of residual person, social function disorder change quality of life, increase self-reliance, improve the quality of living.Object includes brain soldier
In, all kinds of injury gained in sports class diseases, Bones and joints are postoperative, disease of old people and other acute and chronic diseases, congenital sex dysfunction person etc..
To achieve the above object, the present invention provides the following technical scheme that
Intelligent motion analysis and training system, it is characterised in that: including work of rehabilitation station and treatment control system；It is described
Work of rehabilitation station includes rack, and upper limb trainer material and leg training equipment are provided in rack；Sensor is provided in rack
Group, video camera, touch display and station；Master hosts are provided in station.
The treatment control system includes the sound acquisition module for being mounted on the rack and connecting master hosts, Posture acquisition
Module, surface muscle acquisition module, power module, signal transmission module, Data Storage, signal analysis and processing mould
Block, data disaply moudle, sound feedback module.
Sound acquisition module, for acquiring glottis source signal and being switched to electronic signal；Posture acquisition module, for adopting
Collect the posture inclination angle of the training objective and is switched to electronic signal；Surface muscle acquisition module, for according to the surface
Muscle electric signal obtains muscle electric signal liveness information and power spectrum median frequency information and is switched to electronic signal.
Power module connects external power supply and powers to the modules of system.
Signal transmission module is used for main controller module master hosts and sound acquisition module, Posture acquisition module, surface
Signal transmission before muscle acquisition module.
Data Storage stores electronic signal information, while storing personal information for establishing database.
Signal analysis and processing module, for analyzing electronic signal and by corresponding information conveyance to sound feedback mould
Block.
Data disaply moudle and sound feedback module, for connecting external sound-box device and touch display screen.
Master hosts handle signal and are handled using industrial computer, and finally obtaining a result, it is aobvious to be shown in touch
In display screen.
As a kind of technical solution of optimization, the sensor group includes the blood pressure sensor for using human body information, breathing
Frequency sensor and step number sensor.
By adopting the above-described technical solution, compared with prior art, the beneficial effects of the present invention are:
1), the present invention is capable of providing convenient rehabilitation.Medical worker can select treatment stream according to the needs of patient
Cheng Hou, while patient can voluntarily complete entirely to treat, and instruct without medical worker on side.
2), the present invention is capable of providing comprehensive rehabilitation.According to international function, deformity and health classification, deformity is suffered from
The rehabilitation training of person is divided into damaged, limitation of activity, participates in three levels of limitation, and it is pre- to carry out disabled three-level to every patient dialectically
Anti- measure makes patient obtain comprehensive rehabilitation.
3), the present invention is capable of providing comprehensive rehabilitation.Three disease, dysfunction, kinematic chain directory systems, it is convenient
Physiatrician, rehabilitation treat teacher of the controlling, nurse, the profession such as family members and layman can quickly and accurately find suitable patient into
The training program of row rehabilitation.
4), the present invention is capable of providing accurate rehabilitation.The joint in movement is accurately grabbed by joint monitoring
It takes, lock and feeds back, to some difficult points of rehabilitation training, such as separate the associated movement mode of hemiplegic patient, improve incoordination
The asynchronism of patient, raising acrobatics and tumblings and flexibility etc. play a significant role.
5), the present invention is capable of providing the rehabilitation of profession.Neurodevelopment, movement have been rubbed up to the design for the treatment of project
The subject knowledges such as, biomethanics treat rule of the selection of process according to open and close kinematic chain during human motion, this
Sample can guarantee the science and training validity for the treatment of project and process.
6), the present invention is capable of providing interesting rehabilitation.Training is based on game, and the design of game fully considers target complex
Body and usage scenario, greatly excitation patient's interest, stimulate brain, and passive exercise is become active training, enhance training effect
Fruit.
Specific embodiment
Embodiment
Intelligent motion analysis and training system, including work of rehabilitation station and treatment control system.
The work of rehabilitation station includes rack, and upper limb trainer material and leg training equipment are provided in rack；In rack
It is provided with sensor group, video camera, touch display and station；Master hosts are provided in station.Above equipment is
Existing equipment composition, structure and working principle repeat no more.The sensor group includes the blood pressure using human body information
Sensor, respiratory frequen and step number sensor.
The treatment control system includes the sound acquisition module for being mounted on the rack and connecting master hosts, Posture acquisition
Module, surface muscle acquisition module, power module, signal transmission module, Data Storage, signal analysis and processing mould
Block, data disaply moudle, sound feedback module.
Sound acquisition module, for acquiring glottis source signal and being switched to electronic signal.Posture acquisition module, for adopting
Collect the posture inclination angle of the training objective and is switched to electronic signal.Surface muscle acquisition module, for according to the surface
Muscle electric signal obtains muscle electric signal liveness information and power spectrum median frequency information and is switched to electronic signal.Electricity
Source module connects external power supply and powers to the modules of system.Signal transmission module is used for main controller module master control master
Signal transmission before machine and sound acquisition module, Posture acquisition module, surface muscle acquisition module.Data storage management mould
Block stores electronic signal information, while storing personal information for establishing database.Signal analysis and processing module, for dividing
Analyse electronic signal and by corresponding information conveyance to sound feedback module.Data disaply moudle and sound feedback module, are used for
Sound-box device and touch display screen outside connection.
Master hosts handle signal and are handled using industrial computer, and finally obtaining a result, it is aobvious to be shown in touch
In display screen.In this patent include human-computer interaction technology program, nerual network technique program in master hosts, man-machine friendship is provided
Mutual technology, meanwhile, artificial neural network is the network being interconnected and form extensively by a large amount of artificial neurons, can be used to simulate cranial nerve
The structure and function of system has large-scale parallel simulation process, non-linear adaptive information processing capability.
Of the invention is technically characterized by comprising the steps as follows:
1), equilibrium function assessment and training technique.
The technology can carry out the function of a variety of organs of decision balanced ability of human body comprehensively, accurately quantitatively motivating,
Avoiding artificial randomness can be not only used for the equilibrium function of assessment patient with uncertainty, while because in test process
In can apply the quantitative excitations of different rotation directions to patient vola, thus activate repeatedly patient vestibular and nervous centralis into
Row balance adjustment, is trained repeatedly, effectively enhances the body balance of patient.The technology is for training, restoring people
When body equilibrium function, it can be balanced functional test at any time, make patient that can see the effect of its balance function training, recovery at any time
Fruit, thus also greatly improve the rehabilitation enthusiasm of patient.
2), exercise for power and evaluation technology.
A variety of training and test pattern are highly integrateable on a work of rehabilitation station by the technology by modularized design, are made
Dyskinesia patient realizes that unrestricted choice is suitble to the single mode of displacement ability or multi-mode to combine, emphasis is trained and whole
The rehabilitation training that training combines；Simultaneously during patient carries out exercise rehabilitation training to its own motor function data into
Row acquisition in real time, timely feedbacks and assesses, and really realizes digitlization rehabilitation.
3), recovery exercising robot assists ambulation training technology.
Based on Artificial Intelligence, modelling defines man-machine intention and understands and interact, and realizes gait planning, stability control
System, movement identification and personalized formulation Motion Control Strategies etc., are worked out to restore lower extremity motor function as main syllabus target health
Multiple measure contains many attitude control and training mode, every athletic performance of real simulation human body；Gradual joy
Happy interaction rehabilitation training: lively scene interactive mode rehabilitation training interface, design plurality of target guide type training trip are constructed
Play is fused to various craps games in limbs training, improves interest and subjective initiative that patient carries out rehabilitation training, and
Patient oneself can be prompted to carry out the amendment of posture and movement.
4), voice process technology.
The technology acquires glottis source signal using dedicated microphone and is switched to electronics by way of software and hardware combining
Signal recycles the analysis of inverse filtering algorithm, processing voice signal, realizes to patient respiratory, sounding, sympathetic response, structure sound and voice etc.
Chinese verbalization carries out real-time, objective, quantification measurement, and multimedia audio-visual is combined to feed back, and passes through the reality of speech parameter
When monitoring with variation driving training game, realize area of computer aided speech rehabilitation training.
5), neural network rehabilitation technique.
Artificial neural network is the network being interconnected and form extensively by a large amount of artificial neurons, can be used to simulate cerebral nervous system
Structure and function, have large-scale parallel simulation process, non-linear adaptive information processing capability.Nerual network technique is taken root
In subjects such as nervous system, mathematics, statistics, physics, engineering science, computer science.Currently, nerual network technique is answered
For rehabilitation field, such as expert diagnostic system neural network based.The system is generally by medical record management, diagnostic system, rehabilitation
The modules such as training composition, can intelligent diagnostics patient obstacle feature, isolate the barrer types, and export rehabilitation training suggestion and plan
Slightly.
6), human-computer interaction technology.
The interactive relation between system and user is mainly studied in human-computer interaction, mainly by the external equipment that can be inputted, export
It is completed with corresponding software.Mainly there are keyboard, display, mouse, various pattern-recognitions for the equipment that human-computer interaction uses
Equipment.Currently, the human-computer interaction for being applied to rehabilitation field mainly has human-computer interaction technology based on body-sensing, based on the man-machine of eye movement
Interaction technique, human-computer interaction technology based on sensing etc..For example, the man-machine friendship of body-sensing in active movement comprehensive rehabilitation training system
It mutually, is that traditional mode of operation and digital device and environment interaction are replaced by gesture or body action；Eye movement attention
Eye movement human-computer interaction in training system is to replace traditional mode of operation and digital device by Eye-controlling focus, eye movement signal etc.
Interaction.
7), image detection and processing technique.
Image detection and processing are handled it by computer after that is, image capture device obtains image information
Process.Wherein, image processing process is related to the technology of Image Acquisition, feature extraction and image recognition etc..Currently, image is examined
It surveys and processing technique is also gradually applied in rehabilitation field, including glottis dynamic chek, Larynx endoscope inspection, artificial scene are mutual
Dynamic rehabilitation etc..For example, the 3D earth in active movement comprehensive rehabilitation training system, by personage's real-time image scratching and the virtual feelings of 3D
Scape combines, and user is allowed to place oneself in the midst of impression and picture element Interactive Experience in game, easily freely carries out with virtual environment mutual
It is dynamic.
8), natural human-machine interaction and Technology of ZO control.
According to the motion intention for identifying rehabilitation object with the electromyography signal and visual information of patient itself, make rehabilitation machines
Device people is moved by the intention of people, is realized that people-machine is naturally co-melting, can be obviously improved rehabilitation effect.Perceive man-machine interaction's power, collaboration
The dynamic parameters such as movement velocity, man-machine system inertia establish the active/passive impedance adjustment of healing robot, through human eye hole
The motion intention of rehabilitation object is examined, people-machine natural interaction and Technology of ZO control are broken through.
9), human body lower limbs motion state detection and motion intention identification technology.
In complicated human body lower limbs moving scene, the variation of lower extremity movement state is observantly detected, identify under human body
The compound movements such as limb standing, swinging kick are intended to, and realize the servo antrol of lower limb rehabilitation robot accordingly, make lower limb rehabilitation robot control
System processed can quickly and accurately react, and be to realize lower limb rehabilitation robot and wearer's harmonious coexistence, it is ensured that robot provided
Move the key technology that comfortable, submissive, security needs solve.
10), gait training and assessment technology based on sound feedback.
Gait training and assessment system based on sound feedback, it is characterised in that: including power module, master controller mould
Block, gait parameter acquisition module, signal transmission module, reception signal terminal, data storage and management module, signal analysis and place
Manage module, data disaply moudle and sound feedback module, wherein the power module is adopted with main controller module and gait parameter
Collect module connection, main controller module connect with gait parameter acquisition module, main controller module pass through signal transmission module and
Reception signal terminal connection, data storage and management module and Digital Signal Analysis and Processing module and data disaply moudle respectively with
Reception signal terminal connection, Digital Signal Analysis and Processing module and gait parameter acquisition module are connect with sound feedback module respectively.
11), the inertial sensor initial position identification technology based on dynamic time warping algorithm.
Inertial sensor initial position recognition methods based on dynamic time warping algorithm, including signal acquisition: by inertia
Sensor is fixed on the initial position of concrete application requirement, then acquires the original signal of inertial sensor in a period of time；Letter
Number pretreatment: denoising and rejecting abnormalities point, to filter out the system in original signal collection process.Noise and rejecting in communication and pass
Exceptional value caused by during defeated；Calculating similarity is carried out to pretreated signal based on dynamic time warping algorithm；It is defeated
The recognition result of inertial sensor initial position out；When being in initial position to inertial sensor using dynamic time warping algorithm
Signal and correct initial position signal carry out similarity measurements quantization, thus to the correctness of inertial sensor initial position into
Row identifies and judges；This method can be adapted for the time series of Length discrepancy, and can be adapted for the presence of offset on a timeline
The case where, while not needing acquisition early period great amount of samples.
Protection scope of the present invention is not limited merely to above-described embodiment, and all technical solutions belonged under thinking of the present invention are equal
It belongs to the scope of protection of the present invention.It should be pointed out that for those skilled in the art, not departing from the present invention
Several improvements and modifications under the premise of principle, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (2)
1. intelligent motion analysis and training system, it is characterised in that: including work of rehabilitation station and treatment control system；
The work of rehabilitation station includes rack, and upper limb trainer material and leg training equipment are provided in rack；It is arranged in rack
There are sensor group, video camera, touch display and station；Master hosts are provided in station；
The treatment control system includes the sound acquisition module for being mounted on the rack and connecting master hosts, Posture acquisition mould
Block, surface muscle acquisition module, power module, signal transmission module, Data Storage, signal analysis and processing mould
Block, data disaply moudle, sound feedback module；
Sound acquisition module, for acquiring glottis source signal and being switched to electronic signal；Posture acquisition module, for acquiring
It states the posture inclination angle of training objective and is switched to electronic signal；Surface muscle acquisition module, for according to the surface muscle
Electric signal obtains muscle electric signal liveness information and power spectrum median frequency information and is switched to electronic signal；
Power module connects external power supply and powers to the modules of system；
Signal transmission module is used for main controller module master hosts and sound acquisition module, Posture acquisition module, surface muscle
Signal transmission before acquisition module；
Data Storage stores electronic signal information, while storing personal information for establishing database；
Signal analysis and processing module, for analyzing electronic signal and by corresponding information conveyance to sound feedback module；
Data disaply moudle and sound feedback module, for connecting external sound-box device and touch display screen；
Master hosts handle signal and are handled, finally obtain a result and be shown in touch display screen using industrial computer
On.
2. intelligence motion analysis and training system according to claim 1, it is characterised in that: the sensor group includes
Using the blood pressure sensor of human body information, respiratory frequen and step number sensor.
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| CN201811153563.9A CN109126045A (en) | 2018-09-30 | 2018-09-30 | intelligent motion analysis and training system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907932A (en) * | 2019-04-08 | 2019-06-21 | 中国航天员科研训练中心 | A kind of vestibular stimulation influence human upper limb locomotion control research experiment system |
| CN112675493A (en) * | 2021-01-11 | 2021-04-20 | 吉首大学 | Leg exercise device for dancing gym and control method thereof |
| CN113208597A (en) * | 2021-06-04 | 2021-08-06 | 郑州大学 | Cerebral apoplexy patient rehabilitation conditioning system and method based on self-learning technology |
| CN115344149A (en) * | 2021-04-28 | 2022-11-15 | 欧姆龙株式会社 | Recording medium, analysis support method, and analysis support system |
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| CN104077495A (en) * | 2014-07-17 | 2014-10-01 | 杜晓松 | Wearable human body feature information collecting and monitoring system |
| CN105963926A (en) * | 2016-04-29 | 2016-09-28 | 中国科学院苏州生物医学工程技术研究所 | Multi-mode fusion hand function rehabilitation training and intelligent evaluation system |
| CN107239147A (en) * | 2017-07-12 | 2017-10-10 | 广州阿路比电子科技有限公司 | A kind of human body context aware method based on wearable device, apparatus and system |
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| CN104077495A (en) * | 2014-07-17 | 2014-10-01 | 杜晓松 | Wearable human body feature information collecting and monitoring system |
| CN105963926A (en) * | 2016-04-29 | 2016-09-28 | 中国科学院苏州生物医学工程技术研究所 | Multi-mode fusion hand function rehabilitation training and intelligent evaluation system |
| CN107239147A (en) * | 2017-07-12 | 2017-10-10 | 广州阿路比电子科技有限公司 | A kind of human body context aware method based on wearable device, apparatus and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907932A (en) * | 2019-04-08 | 2019-06-21 | 中国航天员科研训练中心 | A kind of vestibular stimulation influence human upper limb locomotion control research experiment system |
| CN109907932B (en) * | 2019-04-08 | 2023-12-26 | 中国航天员科研训练中心 | Human upper limb movement control research experiment system influenced by vestibular stimulation |
| CN112675493A (en) * | 2021-01-11 | 2021-04-20 | 吉首大学 | Leg exercise device for dancing gym and control method thereof |
| CN115344149A (en) * | 2021-04-28 | 2022-11-15 | 欧姆龙株式会社 | Recording medium, analysis support method, and analysis support system |
| CN113208597A (en) * | 2021-06-04 | 2021-08-06 | 郑州大学 | Cerebral apoplexy patient rehabilitation conditioning system and method based on self-learning technology |
| CN113208597B (en) * | 2021-06-04 | 2022-12-27 | 郑州大学 | Cerebral apoplexy patient rehabilitation conditioning system and method based on self-learning technology |
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