CN109621311A - A kind of parkinsonism posture gait rehabilitation training method based on augmented reality - Google Patents
A kind of parkinsonism posture gait rehabilitation training method based on augmented reality Download PDFInfo
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- CN109621311A CN109621311A CN201811353120.4A CN201811353120A CN109621311A CN 109621311 A CN109621311 A CN 109621311A CN 201811353120 A CN201811353120 A CN 201811353120A CN 109621311 A CN109621311 A CN 109621311A
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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
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0464—Walk exercisers without moving parts
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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
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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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
- 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
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
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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
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
The parkinsonism posture gait rehabilitation training method based on augmented reality that the invention discloses a kind of, it is related to a kind of recovery training method.The following steps are included: 1, wearing augmented reality glasses start rehabilitation training；2, system initialization；3, sensor obtains exercise data in real time；4, rehabilitation algorithm is analyzed；5, rehabilitation scene adjusts.Operation of the present invention is very simple, and patient wears glasses, so that it may carry out rehabilitation training.The cost of patient can substantially reduce.
Description
Technical field
The present invention relates to a kind of recovery training methods, and in particular to a kind of parkinsonism based on augmented reality
Posture gait rehabilitation training method.
Background technique
Very long rehabilitation is generally required after the lower extremity motor function of human body is impaired.Traditional human motion functional rehabilitation
It treats and certain instrument under the guidance of therapist, is assisted to carry out rehabilitation mostly, it is larger to the consuming of human and material resources.In training
Holding is mostly mechanicalness repetitive operation, and patient lacks the effective interaction with rehabilitation training system, and long-time training can allow patient to generate
Boredom greatly affected the effect of rehabilitation.
Augmented reality (Augmented Reality, abbreviation AR) is a kind of emerging technology, it is a kind of by real world
Information and " seamless " the integrated new technology of virtual world information, be script in the certain time spatial dimension of real world very
The entity information that difficulty is experienced is superimposed after analog simulation again by science and technology such as computers, by virtual Information application to really
The world is perceived by human sensory, to reach the sensory experience of exceeding reality.True environment and virtual object are in real time
It has been added to the same picture or space exists simultaneously.Augmented reality is applied to rehabilitation medical field, gets rid of tradition
The constraint of rehabilitation medical method.User can both touch a variety of of virtual world offer in augmented reality rehabilitation training system
Form information feedback can carry out natural interaction with real world object again, therefore augmented reality rehabilitation training has virtual rehabilitation training
With the two-fold advantage of real rehabilitation training training.
The side of mechanical rehabilitation is generally taken in addition to drug therapy for the posture gait rehabilitation of Kieren Perkins disease patient at present
Method.
CN201210391492- utilizes the method improved in the rehabilitation training of upper limbs system of the augmented reality patent,
It is the rehabilitation for upper limb.
A kind of method of the lower limb gait rehabilitation assessment system of view-based access control model acquisition equipment of the CN201610953145- patent
It is the rehabilitation efficacy for assessing lower limb.
In short, the augmented reality recovery training method for lower limb posture gait caused by the diseases such as Kieren Perkins is one at present
Block blank.
In conclusion designing a fusion virtually cartoon scene with reality the present invention is based on augmented reality glasses, being used for
The training of Parkinson's disease posture gait rehabilitation.
Summary of the invention
In view of the shortcomings of the prior art, object of the present invention is to be to provide a kind of pa based on augmented reality
The gloomy disease posture gait rehabilitation training method of gold, operation is very simple, and patient wears glasses, so that it may carry out rehabilitation training.Patient
Cost can substantially reduce.
To achieve the goals above, the present invention is to realize by the following technical solutions: one kind is based on augmented reality skill
The parkinsonism posture gait rehabilitation training method of art, comprising the following steps: 1, wear augmented reality glasses start rehabilitation training；
2, system initialization；3, sensor obtains exercise data in real time；4, rehabilitation algorithm is analyzed；5, rehabilitation scene adjusts.
Preferably, the rehabilitation algorithm of the step 4 includes posture direction algorithm and leg speed algorithm.
Preferably, the posture direction algorithm flow are as follows: trainer walks along augmented reality scene, if posture
Normally, direction is straight, and the road in the visual field can extend to a distant place；If trainer's posture or direction change, increase
Road in the strong reality scene visual field can change round about according to certain revisory coefficient, and the person of aiminging drill returns to correctly
Posture and direction.
Sensor position data and rehabilitation cartoon scene coordinate position relationship are as follows:
The initial position co-ordinates [x, y, z, 1] of sensor, real-time coordinates [X, Y, Z, 1], R are rotational transformation matrix, changes in coordinates
Relationship is [X, Y, Z, 1]=[x, y, z, 1] .R；R is 4 rank matrixes, can be one kind of following three transformation matrix, or
The combination of three kinds of transformation matrixs.
Scaling；Rotation；Translation
Rehabilitation cartoon scene initial coordinate is H0, real-time coordinates H；
In rehabilitation training, H=λ R-1H0, wherein λ is correction factor
Preferably, the leg speed algorithm flow are as follows: before rehabilitation training initialization, the customized speed V of trainer0, instruction
The true velocity v of white silk person is obtained by sensor；Trainer is in training, and augmented reality animation is in virtual coordinate system with η v's
Speed moves backward, and the variation in the true visual field of true reappearance, stimulating exercise person walks according to target velocity.Wherein η is a warp
Parameter is tested, determines that range is between [1.0,1.23] according to posture and the stability in direction.Parameter κ=v/V0* 100% can judge
One scoring of rehabilitation training person's target completeness.
Beneficial effects of the present invention: operation is very simple, and indoor or outdoors prepare one piece of vacant lot, and patient wears glasses, just
It can carry out rehabilitation training.The cost of patient can substantially reduce.In addition, this method and system are for pa by experimental verification
The rehabilitation efficacy of the gloomy syndrome patient of gold is obvious.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is algorithm flow chart of the invention；
Fig. 2 is rehabilitation training flow chart of the invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment 1 :-Fig. 2 referring to Fig.1, a kind of parkinsonism posture gait rehabilitation training side based on augmented reality
Method, the hardware used is augmented reality glasses common in the market.The following steps are included: a set of virtual scene of design, point
For indoor scene and outdoor scene.For rehabilitation training indoors, outdoor scene is used to instruct in outdoor rehabilitation indoor scene
Practice.Scene includes Virtual Space and road (being divided into black and white strip road, black and white gridiron pattern road and grey road).Rehabilitation training
Person wears augmented reality glasses, and the sensor built in eyes can detect the posture and speed of trainer, if the posture of trainer
It deflects with walking direction, position of the road in the virtual visual field in the visual field can also change, and the person of aiminging drill corrects
Posture and direction, while voice also can auxiliary prompting trainer correction posture and direction.
The posture direction algorithm of the present embodiment, trainer walks along augmented reality scene, if posture is normal, direction is flat
Directly, the road in the visual field can extend to a distant place；If trainer's posture or direction change, augmented reality scene visual
The road of Yezhong can change round about according to certain revisory coefficient, and the person of aiminging drill returns to correct posture and direction.
Sensor position data and rehabilitation cartoon scene coordinate position relationship are as follows:
The initial position co-ordinates [x, y, z, 1] of sensor, real-time coordinates [X, Y, Z, 1], R are rotational transformation matrix, changes in coordinates
Relationship is [X, Y, Z, 1]=[x, y, z, 1] .R；R is 4 rank matrixes, can be one kind of following three transformation matrix, or
The combination of three kinds of transformation matrixs.
Scaling；Rotation;Translation
Rehabilitation cartoon scene initial coordinate is H0, real-time coordinates H；
In rehabilitation training, H=λ R-1H0, wherein λ is correction factor.
The leg speed algorithm of the present embodiment, before rehabilitation training initialization, trainer can be with a customized speed V0, trainer
True velocity v pass through sensor obtain.Trainer is in training, and augmented reality animation is in virtual coordinate system with the speed of η v
It moves backward, the variation in the true visual field of true reappearance, stimulating exercise person walks according to target velocity.Wherein η is an experience ginseng
Number determines that range is between [1.0,1.23] according to posture and the stability in direction.Parameter κ=v/V0* 100% can judge rehabilitation
One scoring of trainer's target completeness.
Specific algorithm flow such as Fig. 1, rehabilitation training process such as Fig. 2.
The embodiment of the present invention has been subjected to experiment, and rehabilitation efficacy is good.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
1. a kind of parkinsonism posture gait rehabilitation training method based on augmented reality, which is characterized in that including following
Step: (1), wear augmented reality glasses start rehabilitation training；(2), system initialization；(3), sensor obtains movement number in real time
According to；(4), rehabilitation algorithm is analyzed；(5), rehabilitation scene adjusts.
2. a kind of parkinsonism posture gait rehabilitation training method based on augmented reality according to claim 1,
It is characterized in that, the rehabilitation algorithm of the step (4) includes posture direction algorithm and leg speed algorithm.
3. a kind of parkinsonism posture gait rehabilitation training method based on augmented reality according to claim 2,
It is characterized in that, the posture direction algorithm flow are as follows: trainer walks along augmented reality scene, if posture is normal,
Direction is straight, and the road in the visual field can extend to a distant place；If trainer's posture or direction change, augmented reality
The road of scene visual Yezhong can change round about according to certain revisory coefficient, the person of aiminging drill return to correct posture and
Direction；
Sensor position data and rehabilitation cartoon scene coordinate position relationship are as follows:
The initial position co-ordinates [x, y, z, 1] of sensor, real-time coordinates [X, Y, Z, 1], R are rotational transformation matrix, changes in coordinates
Relationship is [X, Y, Z, 1]=[x, y, z, 1] .R；R is 4 rank matrixes, is one kind or three kinds of transformation squares of following three transformation matrix
The combination of battle array:
Scaling；Rotation；Translation
Rehabilitation cartoon scene initial coordinate is H0, real-time coordinates H；
In rehabilitation training, H=λ R-1H0, wherein λ is correction factor.
4. a kind of parkinsonism posture gait rehabilitation training method based on augmented reality according to claim 2,
It is characterized in that, the leg speed algorithm flow are as follows: before rehabilitation training initialization, the customized speed V of trainer0, training
The true velocity v of person is obtained by sensor；Trainer is in training, and augmented reality animation is in virtual coordinate system with the speed of η v
Degree moves backward, and the variation in the true visual field of true reappearance, stimulating exercise person walks according to target velocity；Wherein η is an experience
Parameter determines that range is between [1.0,1.23] according to posture and the stability in direction；Parameter κ=v/V0* 100% can judge health
One scoring of multiple trainer's target completeness.
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| CN201811353120.4A CN109621311A (en) | 2018-11-14 | 2018-11-14 | A kind of parkinsonism posture gait rehabilitation training method based on augmented reality |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109758157A (en) * | 2019-01-29 | 2019-05-17 | 广州晓康医疗科技有限公司 | Gait rehabilitation training and estimating method and system based on augmented reality |
| CN111388968A (en) * | 2020-03-31 | 2020-07-10 | 首都医科大学宣武医院 | Gait balance training device and system based on virtual reality |
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| CN107328424A (en) * | 2017-07-12 | 2017-11-07 | 三星电子（中国）研发中心 | Air navigation aid and device |
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| KR20090020857A (en) * | 2007-08-24 | 2009-02-27 | (주)코아글로벌아이티 | Guide apparatus for working of blind person |
| US20170075424A1 (en) * | 2009-12-10 | 2017-03-16 | Apple Inc. | Touch Pad with Force Sensors and Actuator Feedback |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109758157A (en) * | 2019-01-29 | 2019-05-17 | 广州晓康医疗科技有限公司 | Gait rehabilitation training and estimating method and system based on augmented reality |
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