CN111991762A

CN111991762A - Psychotherapy-based wearable upper limb rehabilitation device for stroke patient and cooperative working method

Info

Publication number: CN111991762A
Application number: CN202010910038.8A
Authority: CN
Inventors: 冼鹏全; 卢铖; 周晓杨; 李家荀; 黄颖; 王剑
Original assignee: Sheng Pengquan
Current assignee: Sheng Pengquan
Priority date: 2020-09-02
Filing date: 2020-09-02
Publication date: 2020-11-27

Abstract

The invention discloses a psychotherapy-based wearable upper limb rehabilitation device for stroke patients and a cooperative working method, wherein the upper limb rehabilitation device comprises: the shoulder pad and the wrist pad can be worn by a patient, the shoulder pad and the wrist pad are respectively provided with a displacement sensor, the holding part is provided with a pressure sensor, and the displacement sensor and the pressure sensor are respectively connected to the main controller; and the system also comprises application modules which can be respectively connected with the main controller. The invention has the characteristics of light weight, convenient use, low development cost and the like, can be used in combination with a matched rehabilitation game, not only can effectively and comprehensively exercise the grip strength of shoulders, wrists and fingers of a patient, but also can avoid boring and repeated actions and improve the rehabilitation mood of the patient.

Description

Psychotherapy-based wearable upper limb rehabilitation device for stroke patient and cooperative working method

Technical Field

The invention relates to rehabilitation equipment for stroke patients, in particular to wearable upper limb rehabilitation equipment for stroke patients based on psychotherapy and a cooperative working method.

Background

The rehabilitation training of stroke patients needs to be maintained for a long time, 36% of patients still need to take exercise within 5 years after stroke, the exercise frequency is generally once a day or every other day (generally 3-5 times per week), and the effect is not good if the exercise frequency is less than 2 times per week. The cerebral apoplexy patient is generally treated in the hospital of discharging in later stage convalescence, and the patient can select two modes of treatment at home or treatment in hospital regularly.

Most of stroke patients can be discharged when the muscle strength level of the upper limb is more than or equal to 3-grade (the muscle strength level can resist gravity, but the activity range is between 50% and 100%), and most of patients can be recovered at home because the later recovery time period is long, eighty minutes of recovery treatment is frequent every five times a week, and the home recovery is a great trend in the future.

The conventional later-stage rehabilitation equipment in the market can be divided into an upper and lower limb rehabilitation trainer, a finger gripping rehabilitation trainer, an exoskeleton traction robot and the like.

The 'upper and lower limb rehabilitation training devices' are searched on a certain shopping website to obtain hundreds of search results, wherein the hottest is a fitness exercise bicycle of fitmaster, the market price is three thousand yuan, the flexion and extension exercises of the upper and lower limbs can be realized, the fitness exercise bicycle has bilateral exercise functions and electric assistance functions, but the training mode of the rehabilitation exercises is only limited to the flexion and extension rehabilitation of the upper and lower limbs, the rehabilitation actions such as finger grip strength, wrist internal rotation, shoulder lifting and the like are lacked, the training content is lack of comprehensiveness, and the comprehensive rehabilitation of patients is not enough.

There are hundreds of search results for continuously searching for the finger grip on a certain shopping website, the product price is from twenty yuan to hundreds of yuan, and some grip strength rehabilitation trainers can also adjust the grip strength. However, the product only aims at grip strength training and has single training content.

The training process of above-mentioned two kinds of common rehabilitation devices is comparatively boring, and the training process is very weak with the interconnectivity of patient life, production and amusement to lack intelligent doctor-patient interconnected system, can not make things convenient for the doctor to collect patient's family rehabilitation data, hindered patient's rehabilitation process undoubtedly.

Except the two products, the research and development of exoskeleton traction robots and the research and development of VR rehabilitation technology are carried out in all colleges and universities at present, but the price of the products is very high. Taking the upper limb rehabilitation robot as an example, the price of one domestic device is about 70 ten thousand yuan, the service life is 6-10 years, and the expenditure of 1 training (about 20min) is at least 140 yuan. Therefore, although the exoskeleton traction robot can meet the comprehensive treatment scheme, common families are difficult to consume.

In conclusion, the middle and later-period rehabilitation equipment for stroke patients in the market at present is large in size and high in price, mainly takes mechanical motion as main action, and causes the patients to have bad emotions such as boredom and the like due to heavy economic burden and boring and repeated actions; and many existing rehabilitation devices only aim at rehabilitation training and cannot be combined with the actual situations such as self-care in life and the like.

Disclosure of Invention

In order to solve the defects of large volume, high price, lack of comprehensiveness in training and the like of later-stage rehabilitation equipment for stroke patients in the market, the invention aims to provide the wearable upper limb rehabilitation equipment for stroke patients based on psychotherapy and a cooperative working method.

In order to achieve the above object, the first aspect of the present invention provides the following solutions:

the wearable upper limb rehabilitation equipment for the stroke patient based on psychotherapy comprises a shoulder pad, a wrist pad, a holding part and a main controller, wherein the shoulder pad and the wrist pad are respectively provided with a displacement sensor, the holding part is provided with a pressure sensor, and the displacement sensor and the pressure sensor are respectively connected to the main controller; and the system also comprises application modules which can be respectively connected with the main controller.

As a preferred technical solution, the application module includes a computer device and a robot cart, the computer device is used for helping the patient to play interesting games, and the robot cart is used for helping the patient to perform holding training or simple housework activities.

As a preferred technical solution, the main controller is an Arduino Uno development board; the displacement sensor comprises one of an MPU6050 attitude sensor, an MPU6000 attitude sensor or an MPU9250 attitude sensor; the VCC pin and the GND pin of the displacement sensor are respectively and correspondingly connected with the VCC pin and the GND pin of the Arduino Uno development board.

As a preferable technical scheme, the pressure sensor is arranged on the holding part and is connected with at least one resistor in series.

As a preferred technical scheme, pressure sensor connects DC power supply, is supplied power by DC power supply, and pressure sensor is connected with Arduino Uno development board's digital pin 5, and pressure sensor is connected with the GND port of Arduino Uno development board with resistive connection's one end, and the resistance is connected with Arduino Uno development board's simulation pin A0 after the power supply.

As a preferred technical scheme, the application module is connected with the main controller through wireless module respectively, wireless module's quantity is 2, corresponds calculator equipment and robot dolly respectively, and two wireless module are connected on Arduino Uno development board, and one is used for with computer equipment wireless connection, and another is used for with robot dolly wireless connection, and the selector switch on the accessible Arduino Uno development board between the two selects.

As a preferred technical solution, the wireless module includes an HC-05 bluetooth module or a WIFI module.

As a preferred technical scheme, the HC-05 bluetooth module is correspondingly connected with a VCC pin and a GND pin of an Arduino Uno development board; the TXD pin and the RXD pin of the HC-05 Bluetooth module are connected with the D10 pin and the D11 pin of the Arduino Uno development board respectively.

As a preferred technical solution, the pressure sensor includes an FSR resistance type pressure sensor; the gripping member comprises a resilient bead.

The invention provides a cooperative working method of the wearable upper limb rehabilitation device for the stroke patient, which comprises the following steps:

(1) acquiring the motion angles of the shoulders and the wrists of the user through an attitude sensor, and detecting the holding pressure of the palm of the user through a pressure sensor;

(2) wirelessly transmitting the acquired information of the shoulder and wrist movement angles to an application module in real time, and wirelessly transmitting a grabbing action signal to the application module in real time when judging that the pressure held by the palm of the user exceeds a threshold value, or else, not transmitting the grabbing action signal to the application module;

(3) the application module receives the movement angle information and the grabbing action signal of the shoulders and the wrists of the user, and reflects the action of the user in real time through all parts or functions of the module.

As a preferable technical solution, the method for capturing the posture angle of the shoulder and the wrist of the user in the step (1) includes:

selecting any point O on the ground, and establishing a coordinate system as a ground coordinate system by taking the point O as an original point and using a right-hand rule; selecting a mass center O of the object, and establishing a coordinate system which is an object coordinate system by taking the mass center as an origin according to a right-hand rule;

acquiring accelerations ax, ay and az in three axial directions, and calculating the current attitude by taking the direction of the gravity acceleration relative to the chip as a reference;

let the chip face down, and take the acceleration in three axial directions as components to form an acceleration vector a (x, y, Z), assuming that the chip is in a uniform linear motion state, then a should be vertical to the ground upward, i.e. pointing to the negative direction of the Z axis, and the module length is | a | ═ g ═ sqrtx²+y²+z²；

If the chip rotates, the acceleration vector a is still vertically upward, so the negative direction of the Z axis is not superposed with the vector a any more;

making the positive direction of the Z axis of the coordinate system downward and the positive direction of the X axis rightward, wherein the Roll angle phi of the chip is an included angle between the acceleration vector and the projection (X, O, Z) of the acceleration vector on an XZ plane, and the Pitch angle omega is an included angle between the acceleration vector and the projection (O, y, Z) of the Pitch angle omega on a YZ plane;

the dot product formula is adopted: a · b | | b | cos θ, yielding:

namely the attitude angle.

As a preferable technical solution, the method for determining whether the pressure of the palm of the user exceeds the threshold in step (2) includes:

the pressure sensor is connected with at least one resistor in series, when a hand of a patient holds the holding part with strength, the resistance value of the pressure sensor is reduced, the divided voltage of the resistor is correspondingly increased according to the characteristics of the series circuit, the voltage input into the main controller is increased, and the reading is also increased immediately; and obtaining a proper threshold condition according to actual measurement, judging signal triggering when the threshold condition is exceeded, and sending an action signal to the Bluetooth module.

As a preferred technical solution, the method further comprises the step (4): exporting data after the user performs the action, comprising: and deriving a data set from the action data of the user through a TDMS series function of LabVIEW, wherein the derived action data comprises game speed, game duration, left shoulder/right shoulder action times, left wrist/right wrist action times, grabbing times and the like.

The invention has the beneficial effects that:

the invention has the characteristics of light weight, convenient use, low development cost and the like, can be used in combination with a matched rehabilitation game, not only can effectively and comprehensively exercise the grip strength of shoulders, wrists and fingers of a patient, but also can avoid boring and repeated actions and improve the rehabilitation mood of the patient.

Drawings

Fig. 1 is a schematic structural diagram of a wearable upper limb rehabilitation device for a stroke patient based on psychotherapy according to the invention;

fig. 2 is a design and architecture diagram of a wearable upper limb rehabilitation device for stroke patients based on psychotherapy according to the invention;

FIG. 3 is a schematic view of the process of upper limb movement information acquisition and conversion according to the present invention;

FIG. 4 is a schematic diagram of the connection of the Arduino Uno development board to the MPU6050 attitude sensor;

FIG. 5 is an MPU attitude angle calculation graph;

FIG. 6 is a circuit diagram of the connection between the development board of Arduino Uno and the HC-05 Bluetooth module;

FIG. 7 is an interface diagram at the start of the resume game;

FIG. 8 is a real-time image of object obstacle avoidance during resuming game playing;

FIG. 9 is a view showing a screen at the end of the resume game;

FIG. 10 is a depiction of a greedy snake game interface;

FIG. 11 is a circuit diagram of a circuit for reading and judging a Bluetooth serial port signal by the NI myRIO-1900.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are exemplified and described in detail with reference to the accompanying drawings. It should be noted that the following examples are illustrative and not limiting, and should not be construed as limiting the scope of the invention.

In the description of the present invention, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacting the first feature or the second feature through intervening media. Also, a first feature "on," "over," or "above" a second feature may be directly or diagonally above the first feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," or "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.

When an element is referred to as being "secured" to another element, it can be directly secured to the other element or secured through intervening elements. When an element is described as being "connected" to another element, it can be directly connected to the other element or be connected through intervening elements. The terms "upper," "lower," "left," "right," "top," "bottom," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Psychotherapy-based wearable upper limb rehabilitation device for stroke patients, as shown in fig. 1, comprises a shoulder pad 100, a wrist pad 200, a holding part 300 and a main controller 400, wherein the shoulder pad 100 and the wrist pad 200 are worn by patients, the left shoulder pad 100, the right shoulder pad 100, the left wrist pad 200 and the right wrist pad 200 are respectively provided with a displacement sensor 500 (the displacement sensors 500 at the left shoulder pad 100 and the right wrist pad 200 are not directly shown in fig. 1), the holding part 300 is provided with a pressure sensor 600, and the displacement sensor 500 and the pressure sensor 600 are respectively connected to the main controller 400 through wires 700.

In the embodiment, the wearable shoulder pad 100, the wearable wrist pad 200 and the holding part 300 are used for installing the four displacement sensors 500 at the left and right shoulder pads 100 and the left and right wrist pads 200 respectively, so as to combine the upper limb exercise training of the patient with the fun game; install a pressure sensor 600 on the surface of holding part 300 simultaneously for temper the palm grip in actual scene, the combination becomes a can synthesize and temper and be rich in the wearable upper limbs rehabilitation equipment of interest and practicality, makes the patient promote the recovered mood of psychology, carries out the rehabilitation training all-roundly, synthetically.

In this embodiment, the displacement sensor may be an MPU6050 attitude sensor, but the displacement sensor is not limited to an MPU6050 attitude sensor, and other sensors having similar functions and performances such as an MPU6000 attitude sensor or an MPU9250 attitude sensor may be used.

The pressure sensor preferably adopts an FSR resistance type pressure sensor; the holding part can be selected from elastic small balls such as tennis balls, plush balls and the like which are easy to purchase and low in price.

In this embodiment, the main control board is Arduino Uno development board, and wearable upper limbs rehabilitation equipment still includes computer equipment and the robot car that can be connected with Arduino Uno development board respectively, computer equipment is used for helping the patient to carry out interesting recreation, the robot car is used for helping the patient to carry out simple housework activity.

The embodiment is based on the basic principle of cerebral apoplexy rehabilitation therapy in neurorehabilitation science, and integrates the boring and repetitive actions in later-stage rehabilitation into a rehabilitation game and a robot trolley. The wearable device and the bilateral sensor are designed, so that the actions of the shoulders and the wrists are converted into instructions, and the patient is driven to recover by the movement of the healthy body according to the theory of the connection between the two-purpose hemispheres of the brain. By setting two different breakthrough games of recovery operation and greedy snake, the improvement of the movement function of the patient from reflex movement to fuzzification movement and then to random movement is realized.

The wearable upper limbs rehabilitation equipment with control recovered recreation function and robot trolley motion function of this embodiment can help the cerebral apoplexy patient more than tertiary muscle to carry out long-term rehabilitation training at later stage rehabilitation stage, adopts interesting rehabilitation therapy mode to replace the boring recovered action of machinery to help the patient snatch life article or clean the health according to the actual life situation, in order to improve recovered effect.

The following are detailed embodiments:

as shown in fig. 2, the overall concept is divided into two major parts: the first part is upper limb action information acquisition and conversion, after shoulder and wrist movement angle acquisition and palm pressure detection are completed through an MPU6050 attitude sensor and an FSR resistance type pressure sensor, data processing is carried out through an Arduino Uno development board and converted into action instructions 1-7 (action instruction 1: left shoulder lifting; action instruction 2: left wrist lifting forwards; action instruction 3: left wrist overturning inwards; action instruction 4: right shoulder lifting; action instruction 5: right wrist lifting forwards; action instruction 6: right wrist overturning inwards; action instruction 7: palm grasping), and action instructions are transmitted through a Bluetooth module HC-05; the second part is an application, which comprises two modes of a rehabilitation game and a robot trolley, wherein after receiving an action instruction, the former controls the corresponding action of the game through a LabVIEW program; the NI myRIO-1900 master controller is used for controlling the movement of the trolley and the corresponding action of the mechanical claw.

1. Upper limb movement information acquisition and conversion

As shown in figure 3, the motion angles of the shoulders and the wrists are collected through an MPU6050 attitude sensor, the pressure sensor detects the pressure held by the palm, the angle and the pressure are processed through an Arduino Uno development board, and the action command is transmitted to the application module through a Bluetooth module HC-05 through a selection switch.

The main control board in the module adopts an Arduino Uno development board. Arduino is an open-source hardware product which is convenient, flexible and convenient to use, has rich interfaces, has a digital I/O port and an analog I/O port, and simultaneously supports SPI, I2C and UART serial port communication; the environment can be sensed by various sensors; and has simple and convenient programming environment IDE, great degree of freedom, very high expansibility.

1.1 shoulder and wrist movement angle acquisition and processing

The part uses 4 MPU6050 attitude sensors, which are respectively worn on the left and right shoulders and the left and right wrists and correspondingly arranged on the left and right shoulder pads and the left and right wrists.

The MPU6050 chip is internally provided with a data processing module DMP, a filtering algorithm is built in, and data output by using the DMP in many applications can well meet the requirements. The MPU6050 is provided with a six-axis gyroscope for measuring the angle, and an acceleration sensor for measuring the acceleration change of the chip is also provided.

As shown in fig. 4, the VCC pin and the GND pin of the MPU6050 are correspondingly connected to the VCC pin and the GND pin of the Arduino Uno development board, respectively; the I2C bus SCL pin and SDA pin are connected to the a5 and a4 pins, respectively, of the Arduino Uno development board (Arduino specifies these two pins as I2C pins); the AD0 is connected with any digital pin, such as a pin 12, when the AD0 is in a low level, the Arduino on the surface selects to read the data of the MPU, and finally the INT pin is connected with the INT pin of the Arduino, namely the pin No. 2, and when one Arduino is simultaneously connected with two MPUs 6050, only the INT pin of any MPU6050 needs to be connected, and the other one does not need to be connected; the same pins of both MPUs 6050 are connected together, except that the AD0 needs to connect different digital pins.

Attitude angle Yaw-Pitch-Roll: as shown in fig. 5, an arbitrary point O on the ground is selected, and a coordinate system established by right-hand rule with the point O as an origin is a ground coordinate system. And selecting a mass center O of the object, and establishing a coordinate system by taking the mass center as an origin according to a right-hand rule, namely an object coordinate system. The object coordinate system changes along with the change of the object attitude, but the vertical relation among all the axes is not changed. Attitude angles are parameters describing the object coordinate system and the ground coordinate system.

The MPU6050 can acquire the accelerations ax, ay and az in the three axial directions, whereas the earth gravity exists for a long time and is always vertically downward, and thus the current attitude is calculated from the orientation of the acceleration of gravity with respect to the chip as a reference. With the chip face down, acceleration in three axial directions is used as a component to form an acceleration vector a (x, y, z). If the current chip is in a uniform linear motion state, a is perpendicular to the ground and faces upwards, namely, points to the negative direction of the Z axisThe die length is | a | ═ g ═ sqrtx²+y²+z²(equal in magnitude and opposite in direction to the gravitational acceleration). If the chip (coordinate system) rotates, the negative Z-axis direction will no longer coincide with a, since the acceleration vector a is still vertically upward.

The positive direction of the Z axis of the coordinate system is downward, and the positive direction of the X axis is rightward. At the moment, the Roll angle phi of the chip is an included angle between the acceleration vector and the projection (x, O, z) of the acceleration vector on an XZ plane, and the Pitch angle omega is an included angle between the acceleration vector and the projection (0, y, z) of the Pitch angle omega on a YZ plane. The point multiplication formula can be used for solving the included angle of the two vectors: a · b | | b | cos θ, so:

the other two angles are obtained in the same way.

In the Arduino program, the collected angle data is read using the DMP library of the MPU6050 itself, stored in a variable, and compared with the reference value obtained in the calibration process. And after the comparison is finished, sending the instruction sequence number corresponding to the comparison result to a serial port debugging window by using a serial.

1.2 palm pressure acquisition and processing

This section uses 1 FS resistive pressure sensor (FSR) to control the gripping action of the robotic cart gripper by detecting palm pressure to exercise the patient's hand gripping ability. FS resistive pressure sensors (FSRs) respond to different resistance values with a force applied to the sensing area. FS resistance type pressure sensor (FSR) has the characteristics of being ultrathin, flexible, durable, wide in pressure detection range, easy to integrate and the like, and human-computer interaction between a patient and equipment is smoother.

Will pressure sensor pastes on elastic bobble such as tennis, pile ball etc. pressure sensor establishes ties a 5k omega's resistance, and pressure sensor's sensor termination 5V DC power supply because the digital pin that has PWM multiplex function on the Arduino can export 5V voltage, therefore the sensor end can be connected to on Arduino's digital pin 5, and the GND port that links to each other with the resistance connects Arduino, connects the partial pressure of 5k omega resistance to on the simulation pin A0 of Arduino Uno development board after the power supply. When the elastic ball is held by hands of a patient, the resistance value of the pressure sensor is reduced, the divided voltage of the 5k omega resistor is correspondingly increased according to the characteristic of the series circuit, the voltage of the input pin AO is increased, and the reading is also increased immediately. And obtaining a proper threshold condition according to actual measurement, judging signal triggering when the threshold condition is exceeded, and sending an action signal to the Bluetooth module.

1.3 data transfer

Data transmission has used HC-05 bluetooth module, certainly, except can choosing for use bluetooth module, still can select comparatively common WIFI module etc. at present. The HC-05 Bluetooth module is a master-slave integrated Bluetooth serial port module, in short, after the Bluetooth device is successfully paired with other Bluetooth devices, the communication protocol inside the Bluetooth can be ignored, and the Bluetooth can be directly used as a serial port. After the connection is established, the two devices share one channel, namely the same serial port, one device sends data to the channel, and the other device can receive the data in the channel. The HC-05 Bluetooth module is characterized in that: adopting CSR mainstream Bluetooth chip and Bluetooth V2.0 protocol standard; the user can set the baud rate by himself; can be connected with computer equipment such as a notebook computer with Bluetooth, a computer additionally provided with a Bluetooth adapter and the like. There are two modes of operation: the module can be divided into three working roles of Master (Master), Slave (Slave) and Loopback (Loopback) under the automatic connection working mode. When the module is in an automatic connection working mode, the module is automatically connected according to a preset mode to carry out data transmission; when the module is in the command response working mode, various AT commands can be executed, and a user can send various AT commands to the module to set control parameters for the module or issue control commands. The dynamic conversion of the working state of the module can be realized by controlling the input level of the external pin (PIO11) of the module.

In the embodiment, 2 HC-05 Bluetooth modules are used, wherein 1 Bluetooth module is used for connecting the Arduino Uno development board and the computer equipment and is used for sending and receiving the rehabilitation game action instruction; the other 1 is used for connecting the Arduino Uno development board and a robot trolley (NI myRIO-1900) and is used for sending and receiving the motion command of the robot trolley.

Two wireless modules are connected on the Arduino Uno development board, one is used for being connected with computer equipment wireless, and the other is used for being connected with the robot dolly wireless, and the selector switch on the Arduino Uno development board between the two can be selected to the accessible.

As shown in fig. 6, the HC-05 bluetooth module is correspondingly connected to the VCC pin and the GND pin of the Arduino Uno development board; the TXD pin and the RXD pin of the Bluetooth HC-05 need to be correspondingly connected with the TXD pin and the RXD pin of the Arduino, but because two Arduino Uno development boards are used, data are transmitted by communication between the two development boards, the TXD pin and the RXD pin of the Arduino Uno development boards are occupied, and therefore D10 and D11 need to be newly defined as transmission pins when a Bluetooth library is called. Namely, the TXD pin and the RXD pin of the HC-05 bluetooth module are connected with the D10 and D11 pins of the Arduino Uno development board, respectively.

The command sequence number processed in the Arduino procedure is sent to the bluetooth module through the D11 pin of Arduino using a btserial.

2. The first application module: rehabilitation game design

One of the application modules of the embodiment is a rehabilitation game which is divided into two games of rehabilitation operation and snake eating, and of course, the application modules can be replaced and designed into other games according to the requirements; the recovery game is to control the object to avoid the obstacle, and the collision with the wall fails, and the design aim is to ensure that the shoulder and the wrist of the patient move to perform certain reflective motion with regularity of left, right and left; the greedy snake fails to bump against the wall or bump into the snake body in order to control the movement of the snake and obtain food, and is designed to allow a patient to enter his own initiative for thinking and to realize the random movement of shoulder and wrist actions by controlling the movement of the snake in different directions to obtain food. The improvement of the patient's motor function from reflex movement to blurring movement to voluntary movement is achieved by the two different games.

2.1 resume game design

As shown in fig. 7, the starting interface of the resume game is composed of objects and obstacles composed of boolean arrays. The barrier forms a certain regular left-right action, the patient can set the game speed according to the actual requirement, and the upper, lower, left and right movements of the object are respectively controlled by the lifting of the left and right shoulders and the inward rotation of the left and right wrists. In addition, the training times of the shoulder and wrist actions, the game duration and the like can be displayed on the screen instantly when the game is played.

As shown in fig. 8, after the game starts, the lights on the left and right sides are equivalent to "walls", which move downward all the time, and each row of lights gradually changes so that the channel bends to form a left or right channel. The patient controls the object movement so that it does not hit the "wall" and passes smoothly, and once the object hits the "wall" the system prompts the end of the game by voice and dialog box as shown in fig. 9.

Exemplary, the use of the recovery game of shoulder and wrist movements is as follows:

the first step is as follows: setting a game speed;

the second step is that: starting a game, keeping a calibration posture and automatically initializing a program;

the third step: controlling the object to move and avoid the obstacle through the actions of the shoulders and the wrists;

(1) the left shoulder is lifted by about 10 degrees, a motion instruction 1 is recognized, and the airplane is controlled to move upwards;

(2) lifting the right shoulder by about 10 degrees, identifying an action instruction 4, and controlling the airplane to move downwards;

(3) the left wrist rotates inwards by about 20 degrees, a motion instruction 3 is recognized, and the airplane is controlled to move left;

(4) the right wrist rotates inwards by about 20 degrees, and a motion instruction 6 is recognized to control the airplane to move rightwards.

2.2 greedy Snake Game design

As shown in fig. 10, the interface of the greedy snake game is a 20 × 20 boolean light matrix, and the patient can set the initial interface size by himself or herself. In the game, the snake body is represented by a Boolean lamp, each small bright red dot represents food, and the patient can control the movement of the snake by action signals of the shoulders and the wrist, and the aim is to eat the food. After the snake eats the food, the snake body lengthens and the next food will appear automatically at random. The game ends when the snake head touches the edge or hits its body. The game interface also includes score recording, whether to accelerate, game level number, background music selection, start game, end game, length of time that the patient used the product, number of left shoulder, right shoulder, left hand, right hand actions.

Illustratively, the method of use of the game of greedy snake to shoulder and wrist motion is as follows:

(1) when the calibration posture is kept, no action is identified;

(2) the left shoulder is lifted by about 10 degrees, an action instruction 1 is recognized, and the snake moves upwards in the current advancing direction;

(3) the right shoulder is lifted by about 10 degrees, a motion instruction 4 is recognized, and the snake is downward in the current forward direction;

(4) the left wrist is lifted forwards by about 20 degrees, an action instruction 2 is recognized, and the snake is leftwards in the current forward direction;

(5) the right wrist is lifted forward by about 20 deg., a motion command 5 is recognized, and the snake is to the right in the current direction of travel.

2.3 exporting data after game completion

When the patient wears the equipment to play the rehabilitation game, the motion data of the patient derives a data set through a TDMS series function of LabVIEW, and the derived motion data comprises game speed, game duration, left shoulder/right shoulder motion times, left wrist/right wrist motion times and the like. Through the derivation of the action data, doctors and family members can conveniently follow up to know the rehabilitation training condition of the patients.

The TDMS (technical Data Management streaming) file is a binary record file of NI main pushing, has the advantages of high speed, easy access, convenience and the like, can perform seamless interaction between various Data analysis or mining software of NI, and can provide a series of API functions for other application programs to call.

The logic structure of the TDMS is divided into three layers: files (files), Channel Groups (Channels) and Channels (Channels), each level may be attached with specific Properties (Properties). If the TDMS is compared with an excel table, the file is a layer with a workbook file of the excel; the channel group is similar to the sheetet 1, sheetet 2 and the like of the ecxel; the channels are then similar to the columns in an excel table, with one column being a channel. While the rows in excel correspond to one sample per channel of the TDMS. Therefore, the three logic levels can be used for defining test data very conveniently, and data of each logic level can be retrieved arbitrarily, so that data retrieval is ordered and convenient to access.

When the TDMS file is written, LabVIEW automatically generates two files: *. tdms files and. The former is a data file (or main file) and the latter is an index file (or header file). The biggest difference between the index file and the TDMS file is that the index file does not contain raw data information but only contains information such as attributes, and therefore the speed of data retrieval can be increased and the TDMS file searching is facilitated. The file is automatically generated without human intervention. After each game, the TDMS file is placed under the same directory as Vi, with the file name of test.

3. And a second application module: robot car design

The robot trolley consists of four main parts, namely NI myRIO-1900, a Bluetooth module, a power supply and a robot chassis, wherein an inverted triangle interface is also arranged at the front end, and a small broom is arranged on the interface. After the Bluetooth modules are well paired, action instructions can be received through Bluetooth, received instruction signals are processed through the main control NI myRIO-1900 and correspondingly output to the driving motor and the steering engine, and the robot trolley is controlled to achieve the functions of moving, grabbing articles, cleaning and the like.

Exemplary, shoulder and wrist motions correspond to the robot car motion responses as follows:

(1) when the calibration posture is kept, no action is identified;

(2) the left shoulder is lifted by about 10 degrees, an action instruction 1 is recognized, and the robot trolley moves forwards;

(3) lifting the right shoulder by about 10 degrees, identifying an action instruction 4, and retreating the robot trolley;

(4) the left wrist is lifted forward by about 20 degrees, an action instruction 2 is recognized, and the robot trolley rotates anticlockwise (turns left);

(5) the right wrist is lifted forward by about 20 degrees, an action instruction 5 is recognized, and the robot trolley rotates clockwise (turns right);

(6) the left wrist rotates inwards by about 20 degrees, an action instruction 3 is recognized, and a mechanical claw of the robot trolley rises;

(7) the right wrist rotates inwards by about 20 degrees, an action instruction 6 is recognized, and the mechanical claw of the robot trolley descends;

(8) the small ball of the palm is held by force, the action command 7 is recognized, and the mechanical claw of the robot trolley is closed; open in the absence of a signal.

3.1 action Command reception

The master control NI myRIO-1900 for the robot dolly is an embedded system development platform launched by national instruments NI (national instruments) for teaching and student innovation applications. The main control platform is easy to use, simple in programming development and capable of supporting programming by using LabVIEW or c/c + +; meanwhile, the LabVIEW contains a large number of algorithm functions, so that the test is conveniently and quickly called, and the graphical programming mode is very convenient.

(1) Hardware part

The NI myRIO-1900 core chip is Xilinx Zynq-7010, which integrates a 667MHz dual core ARM Cortex-A9 processor and an FPGA containing 28K logic units, 80 DSP chips and 16 DMA channels. In addition, NI myRIO-1900 provides rich peripheral I/O interfaces including 10 Analog Inputs (AI), 6 Analog Outputs (AO), 40 Digital Inputs and Outputs (DIO), 1 stereo audio input and 1 stereo audio output, etc. In addition, the device can be connected with a PC through a USB or Wifi mode, and program debugging is very convenient.

The robotic vehicle is provided by Guangzhou comedy valley power technology, Inc.

(2) Software component

The control part of the robot trolley is written by adopting a LabVIEW program and is compatible with NI myRIO-1900 master control. After the invention provides an open source program software package capable of controlling the action of the robot trolley by the authorization of Guangzhou Huigu power technology Limited company, a sensor of upper limb rehabilitation equipment is connected to a control port of the robot trolley, and the robot trolley is used as a hardware application module of the invention.

The specific principle is as follows:

the upper limb rehabilitation device and the robot trolley are both provided with a pair of configured Bluetooth modules. After the upper limb rehabilitation device and the robot trolley finish Bluetooth pairing and start to send instructions, a LabVIEW program for controlling the robot trolley reads action instruction signals received by a Bluetooth module connected to the NI myRIO-1900 by using a VISA function. And corresponding parameters such as baud rate and the like need to be configured on LabVIEW for Bluetooth pairing. And then, identifying the signals, and outputting corresponding response control signals by adopting a condition frame according to different command signals sent by the sensor, thereby controlling the robot trolley to complete different operations. The received sensor command will use the condition box to output the corresponding response control signal, i.e. the motor speed target value array, as shown in fig. 11.

After the array is obtained, the target rotating speed value and the steering direction corresponding to each wheel are known, and then the closed-loop control is formed through PID feedback, and finally the wheels are driven to rotate, so that the stable and correct speed of the wheels is ensured.

Effect embodiment:

in clinical use in a hospital, patient A and patient B were each administered a 28-day treatment course of 4 weeks using the present invention.

Patient a basic condition: somebody yellow, a woman in 33 years old, who is in high risk for hypertension of grade 2, is admitted to the hospital via dizziness and conscious after the operation of right basal ganglia and temporal lobe cerebral hemorrhage. Before the treatment course is implemented, the patient is in the later period of cerebral hemorrhage recovery, the muscle strength of the upper limb at the left side is 3-grade (capable of resisting gravity, but the activity range is 50% -100%), the muscle strength of the lower limb at the left side is 3+ grade, the muscle strength of the upper limb at the right side is 5-grade, and the patient is discharged to home. Knowing that rehabilitation training often has a conflicting mind in talking with their family requires the family to supervise and urge, and a feeling of depression usually laughs when watching comedy short video content.

In the 4-week period, patient a uses the recovering exercise rehabilitation game 68 times and the greedy snake rehabilitation game 55 times; the wearable device is worn by the patient on day 1, the game speed is controlled to be 1.0, the average survival time of 5 times of recovery operation games is 1 minute and 19 seconds, and the average survival time of 5 times of greedy snake games is 27 seconds; the patient wears the equipment for training at irregular intervals every day; by day 28, the game speed was also controlled to 1.0, the average survival time for 5 recovery games was 6 minutes and 13 seconds, and the average survival time for 5 greedy snake games was 2 minutes and 13 seconds. The game survival time of patient a was improved by 383%, indicating that the flexibility of shoulder and wrist movements was significantly improved.

In addition, the wearable device (with the ball on the left hand) was worn by the patient on day 1, and the time for the robot car to grab the article 5m in front was 8 minutes and 50 seconds; the patient wears the equipment for training at irregular intervals every day; by day 28, the patient (small ball on left hand) controlled the robotic cart to grab the front 5m item for 6 minutes 43 seconds. The time for the robot to grab the article is shortened by 24%, and the results are shown in table 1 below.

TABLE 1 comparison of patient A usage on day 1 versus day 28

Basic condition of patient B: somebody's clock, male, 60 years old, the history of "hypertension" is 10 years, because "left internal carotid artery is occluded" causes the admission of hypodynamia, poor spirit, slurred speech when food is lost, and incontinence of stool, etc., and the speech is clear after treatment, and the stool is normal. The later period of cerebral infarction recovery before the project is implemented, the muscle strength of the upper and lower limbs on the left side is 5 grades, the muscle strength of the upper and lower limbs on the right side is 3+ grades (the whole range of activities can be completed by resisting gravity, but slight resistance can be resisted at the end of exercise), the muscle strength of the lower limbs on the right side is 3+ grades, and the pre-rotation community is recovered. When people have been in conversation with other families, people often stop rehabilitation training due to spleen qi, all children are home, and the children are usually cared by hospital nursing staff, sleep except eating and rehabilitation, and have poor spirit.

In the period of 4 weeks, the patient B uses the recovering exercise and rehabilitation game for 36 times and uses the greedy snake and rehabilitation game for 30 times; on day 1, the wearable device is worn by the patient, the game speed is controlled to be 2.0, the average survival time of 5 times of recovery games is 2 minutes, and the average survival time of 5 times of greedy snake games is 1 minute and 51 seconds; the patient wears the equipment for training at irregular intervals every day; by day 28, the game speed was also controlled to 2.0, the average survival time for 5 recovery games was 9 minutes 12 seconds, and the average survival time for 5 greedy snake games was 8 minutes 22 seconds. The game survival time of patient B was improved by 355%, indicating that the flexibility of shoulder and wrist movements was significantly improved.

In addition, the wearable device (the ball is on the right hand) is worn by the patient on day 1, and the time for the robot trolley to grab the object 5m in front is 5 minutes and 27 seconds; the patient wears the equipment for training at irregular intervals every day; by day 28, the patient (small ball on right hand) controlled the robot car to grab the front 5m item for 3 minutes 23 seconds. The time taken for the robot to grasp the article was reduced by 38%, and the results are shown in table 2 below.

TABLE 2 comparison of patient B usage on day 1 and day 28

In conclusion, the game survival time of the stroke patient is averagely improved by 369%, and the time for the robot to grab objects is shortened by 31%. The wearable upper limb rehabilitation equipment for the stroke patient based on psychotherapy provided by the invention has a better rehabilitation effect on the patient.

The present rehabilitation motion recognition of the invention involves only the shoulder, wrist and palm, but of course, instead, the sensors may be applied to the whole body, for example using clothing or fabric, to allow rehabilitation to involve various aspects of the body.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and their concepts should be considered to be equivalent or modified within the technical scope of the present invention.

Claims

1. The wearable upper limb rehabilitation equipment for the stroke patient based on psychotherapy is characterized by comprising a shoulder pad, a wrist pad, a holding part and a main controller, wherein the shoulder pad and the wrist pad can be worn by the patient; and the system also comprises application modules which can be respectively connected with the main controller.

2. The wearable upper limb rehabilitation device for stroke patients according to claim 1, wherein the application module comprises a computer device and a robot trolley, the computer device is used for helping patients to play interesting games, and the robot trolley is used for helping patients to perform holding training or simple housework activities.

3. The psychotherapy-based stroke patient wearable upper limb rehabilitation device according to claim 1, wherein the main controller is an Arduino Uno development board; the displacement sensor comprises one of an MPU6050 attitude sensor, an MPU6000 attitude sensor or an MPU9250 attitude sensor; the VCC pin and the GND pin of the displacement sensor are respectively and correspondingly connected with the VCC pin and the GND pin of the Arduino Uno development board.

4. The psychotherapy-based stroke patient wearable upper limb rehabilitation device according to claim 3, wherein the pressure sensor is mounted on the holding part, and the pressure sensor is connected with at least one resistor in series.

5. The psychotherapy-based wearable upper limb rehabilitation device for stroke patients according to claim 4, wherein the pressure sensor is connected to and powered by a DC power supply, the pressure sensor is connected to a digital pin 5 of the Arduino Uno development board, one end of the pressure sensor connected to the resistor is connected to a GND port of the Arduino Uno development board, and the resistor is connected to an analog pin A0 of the Arduino Uno development board after power supply.

6. The psychotherapy-based wearable upper limb rehabilitation device for stroke patients according to claim 1, wherein the application modules are respectively connected with the main controller through wireless modules, the number of the wireless modules is 2, the wireless modules respectively correspond to the computer device and the robot trolley, and the two wireless modules are connected to the Arduino Uno development board and are selectively and wirelessly connected with the computer device or the robot trolley through a selection switch.

7. The psychotherapy-based stroke patient wearable upper limb rehabilitation device according to claim 6, wherein the wireless module comprises a HC-05 Bluetooth module or a WIFI module.

8. The psychotherapy-based stroke patient wearable upper limb rehabilitation device according to claim 7, wherein the HC-05 bluetooth module is correspondingly connected to a VCC pin and a GND pin of an Arduino Uno development board; the TXD pin and the RXD pin of the HC-05 Bluetooth module are connected with the D10 pin and the D11 pin of the Arduino Uno development board respectively.

9. The psychotherapy-based stroke patient wearable upper limb rehabilitation device according to claim 1, wherein the pressure sensor comprises a FSR resistive pressure sensor; the gripping member comprises a resilient bead.

10. The method for the cooperative work of the wearable upper limb rehabilitation device for the stroke patient based on the psychotherapy according to any one of claims 1 to 9, comprising the following steps:

11. The cooperative working method of the wearable upper limb rehabilitation device for stroke patients based on psychotherapy as claimed in claim 10, wherein the method for capturing the posture angle of the shoulder and the wrist of the user in step (1) comprises:

making the positive direction of the Z axis of the coordinate system downward and the positive direction of the X axis rightward, wherein the Roll angle phi of the chip is an included angle between the acceleration vector and the projection (X, 0, Z) of the acceleration vector on an XZ plane, and the Pitch angle omega is an included angle between the acceleration vector and the projection (0, y, Z) of the Pitch angle omega on a YZ plane;

the dot product formula is adopted: a · b | | b | cos θ, yielding:

namely the attitude angle.

12. The cooperative work method of the wearable upper limb rehabilitation device for stroke patients based on psychotherapy as claimed in claim 10, wherein the method for determining whether the pressure held by the palm of the user's hand exceeds the threshold in step (2) comprises:

13. The cooperative work method of the wearable upper limb rehabilitation device for stroke patients based on psychotherapy as claimed in claim 10, further comprising the step (4): exporting data after the user performs the action, comprising: and deriving a data set from the action data of the user through a TDMS series function of LabVIEW, wherein the derived action data comprises game speed, game duration, left shoulder/right shoulder action times, left wrist/right wrist action times and grabbing times.