CN113101134B - Child lower limb movement auxiliary rehabilitation system based on power exoskeleton - Google Patents
Child lower limb movement auxiliary rehabilitation system based on power exoskeleton Download PDFInfo
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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Abstract
The invention provides a child lower limb movement auxiliary rehabilitation system based on a dynamic exoskeleton, which is characterized in that: comprises a rehabilitation system main body; the rehabilitation system main body comprises a movement capability assessment module, a rehabilitation scheme generation module, an auxiliary training module and a case management module; the medical record management module is used for storing medical record information of the child patient; the exercise capacity assessment module is used for obtaining an exercise capacity assessment result according to medical record information of the child patient; the rehabilitation scheme generating module is used for generating a corresponding personalized training scheme according to the exercise capacity evaluation result; and the auxiliary training module synchronizes all data in the infant training process to the case management module. The system provided by the invention has complete recovery period, perfect evaluation system and simple auxiliary training operation, can produce a targeted recovery training strategy, greatly enriches the recovery treatment database of the cerebral palsy children, and is easy for the production of the results of cerebral palsy recovery related researches.
Description
Technical Field
The invention relates to the field of medical rehabilitation apparatuses, in particular to a rehabilitation training method for cerebral palsy children.
Background
Cerebral palsy (cerebral palsy) is a group of persistent central motor and postural developmental disorders, activity-limited syndrome that is caused by non-progressive damage to the developing fetal or infant brain. Motor disturbances of cerebral palsy are often accompanied by sensory, perceptual, cognitive, communication and behavioral disturbances, as well as epilepsy and secondary musculoskeletal problems. Modern medical nerve plasticity theory holds that the functional walking ability of children suffering from the damage of the central nerve can be effectively recovered by continuously and repeatedly transmitting stimulation with certain intensity to the central nerve. The conventional rehabilitation training of the lower limbs of the cerebral palsy infant is performed by a professional rehabilitation therapist, the infant is promoted to complete specific exercises by different rehabilitation training schemes, and the development of the neuromuscular functions of the infant is promoted by long-term repeated training and relearning, so that walking capacity is gradually obtained. However, the treatment mode has high dependence on rehabilitation therapists, is difficult to realize standardization and higher accuracy, is not interesting in training, has low active participation of children patients, has high walking training difficulty, and can cause huge manpower, money and time waste.
The dynamic exoskeleton auxiliary treatment provides a new way for continuously and effectively training children suffering from cerebral palsy. However, the existing rehabilitation treatment scheme based on the auxiliary training power exoskeleton of the cerebral palsy infant lacks a complete rehabilitation scheme management method and a unified and accurate exercise capacity and rehabilitation evaluation system, so that the rehabilitation curative effects are different, and the further development of the research of the auxiliary training power exoskeleton of the related cerebral palsy infant is not facilitated.
Disclosure of Invention
In order to solve the problems, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which has complete rehabilitation period, perfect evaluation system and simple auxiliary training operation, can produce a targeted rehabilitation training strategy, greatly enriches a cerebral palsy infant rehabilitation treatment database, and is easy for the production of results of cerebral palsy rehabilitation related researches.
The invention provides a child lower limb movement auxiliary rehabilitation system based on a dynamic exoskeleton, which is characterized in that: comprises a rehabilitation system main body;
the rehabilitation system main body comprises a movement capability assessment module, a rehabilitation scheme generation module, an auxiliary training module and a case management module;
wherein, the case management module stores medical record information of the child patient;
the exercise capacity assessment module obtains an exercise capacity assessment result according to medical record information of the child patient;
the rehabilitation scheme generating module generates a corresponding personalized training scheme according to the exercise capacity evaluation result;
the auxiliary training module synchronizes all data in the infant training process to the case management module.
Further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the exercise ability evaluation module comprises a GMFCS grading evaluation unit and a quantization evaluation unit;
the GMFCS grading evaluation unit performs qualitative evaluation on the exercise capacity of the child patient to obtain a preliminary grading result;
the rehabilitation scheme generating module generates a preliminary training scheme according to the preliminary grading result;
the quantitative evaluation unit is used for quantitatively evaluating the exercise capacity of the infant to obtain a quantitative evaluation result;
the rehabilitation scheme generating module adjusts parameters in the preliminary training scheme according to the quantitative evaluation result to generate a personalized training scheme.
Further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the method for obtaining the quantitative evaluation result comprises the following steps:
s1, obtaining necessary indexes of an infant: age, BMI index, muscle strength, joint movement ability;
s2, selecting healthy child data corresponding to the child patient from a preset database, obtaining BMI index, muscle strength and joint movement capacity data of the healthy child, and setting the BMI index, muscle strength and joint movement capacity data as evaluation references H S B , H S P And H S M ；
s3, comparing each index of the infant obtained in the S1 with an evaluation standard respectively; the difference between muscle strength, joint movement capacity and the like of the child patient and the normal child can be determined compared with the normal child with the same physiological condition (age, height and weight), and the final rehabilitation target can be set.
S4, obtaining a final score through weighted summation calculation of each index.
The above formula for calculating the score is initially: s is S B / H S B *(0.5S P / H S P +0.5/ H S B ) The formula is obtained by considering the relation between muscle strength and joint movement capacity, the weight of the formula is 0.5, and BMI is used as a correction coefficient. In practical application, the weight can be modified according to the increase of the data under the platform, and the modification mode can be CNN algorithm modification or the amount commonly used in the fieldAnd a specific relation correction mode. S is S B 、S P 、S M BMI index, muscle strength and joint movement ability data obtained through actual measurement of the children are respectively obtained. H S B 、 H S P 、 H S M is As defined in S2.
Further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the specific method for adjusting the parameters in the preliminary training scheme comprises the following steps:
further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the training aid also comprises an auxiliary training device component;
the auxiliary training equipment assembly comprises a training equipment unit, a scene simulation unit, a motion monitoring unit and a data interaction unit;
the training equipment unit is one or more training equipment and is worn on a designated part of the child patient;
the scene simulation unit comprises a plurality of virtual scenes;
the motion monitoring unit comprises one or more sensors which are internally arranged in the training device and a monitor which is worn at a designated part of the infant;
the data interaction unit is used for performing data interaction with the rehabilitation system main body.
Further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the data interaction process comprises the following steps:
s1, after a rehabilitation system main body and auxiliary training equipment are paired, receiving a personalized training scheme of a current infant;
s2, adjusting the operation strategy of the training equipment according to the personalized training scheme;
s3, in the training process, the motion trail of the training equipment, the sensor and the monitor are synchronously transmitted to the rehabilitation system main body in real time.
Further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the rehabilitation system main body further comprises a monitoring module;
the monitoring module monitors the motion trail of the returned training equipment, and adjusts the motion strategy according to the preset amplitude when the deviation rate of the motion trail is found to be larger than the rated value.
Further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the scene simulation unit further comprises image acquisition and output equipment;
above-mentioned image acquisition and output equipment gathers the infant training condition under the virtual scene to pass through the synchronous transmission of data interaction unit with the information that gathers to rehabilitation system main part.
Further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the rehabilitation system main body further comprises a monitoring module;
the monitoring module evaluates the sign characteristics of the infant fed back by the sensor and the monitor acquired in real time, and feeds back a warning prompt to the rehabilitation system main body when the evaluation result deviates from the health value, and stops the current training.
Further, the invention provides a child lower limb exercise auxiliary rehabilitation system based on a dynamic exoskeleton, which is further characterized in that:
the rehabilitation system main body further comprises a feedback module;
the feedback module is used for counting and analyzing the rehabilitation condition of the infant under the current platform.
The invention has the following functions and characteristics:
the invention provides a power exoskeleton-based children lower limb exercise auxiliary rehabilitation system, which is preferably composed of five modules, namely exercise capacity assessment, rehabilitation scheme generation, auxiliary training power exoskeleton, training feedback and medical record management system.
According to the exercise capacity evaluation module, physiological parameters and exercise information of the infant are input into the exercise capacity evaluation model through the medical history of the infant at the cloud, and quantitative evaluation is made on the infant capacity on the basis of classification of GMFCS, so that a reference basis is provided for subsequent diagnosis and treatment. The rehabilitation regimen generation strategy corresponds to a control strategy of the auxiliary training powered exoskeleton. The method can be divided into two modes of power-assisted rehabilitation training and resistance rehabilitation training according to the exercise capacity evaluation result. Since the evaluation result is quantized, parameters required by control can be finely adjusted in each mode according to the quantized result, so that the high matching with the movement capacity of the child patient is achieved.
Meanwhile, in the system, the rehabilitation training process based on the power exoskeleton is in communication connection with the main body part of the system, so that the effect of synchronizing the motion information of the child patient to the medical record management system is achieved, on one hand, the adjustment of the inadaptation condition in the training process is achieved through a real-time monitoring mode, and on the other hand, the physical indexes of the child patient can be monitored in real time, and accordingly the lower training of the overstress motion or overload state is avoided. Moreover, the specificity of different infants can be effectively reflected through the synchronization process, effective continuity data are provided for researchers, and further scheme perfection and updating are achieved.
Drawings
FIG. 1 is a block diagram of the system architecture of the rehabilitation method of the present invention.
Detailed Description
The child lower limb exercise auxiliary rehabilitation system based on the dynamic exoskeleton shown in fig. 1 specifically comprises five modules of exercise capacity assessment, rehabilitation scheme generation, auxiliary training dynamic exoskeleton, training feedback and follow-up and medical record management system.
The exercise capacity assessment module comprises a first-level GMFCS capacity assessment unit and a second-level quantification result assessment unit, and is used for quantitatively assessing the capacity of the infant on the basis of classification of the GMFCS by establishing a scoring model of physiological information, exercise information and exercise capacity of the infant, so as to provide a reference basis for subsequent diagnosis and treatment.
The rehabilitation scheme generating module determines a preliminary scheme according to the first-level GMFCS capability evaluation result obtained by the movement capability evaluation module, and then finely adjusts the assistance or resistance parameters in the preliminary scheme according to the second-level quantitative evaluation result to obtain a final scheme.
The method comprises the following steps:
s1-1, based on basic data of the child, performing first-level GMFCS capacity assessment by referring to a GMFCS grading rule, and classifying the child into GMFCSI, GMFCSII, GMFCSIII, GMFCSIV, GMFCSV and five grades.
GMFCS classification measurement is performed by observing whether or not an infant can walk independently, the walking state, and the like, and in this process, a doctor at the front end generally performs entry of a corresponding item according to the initial detection state of the infant, and the system performs level definition according to the entered result. The specific decision criteria are based on coarse motor function grading system (the gross motor function classification system, GMFCS) or art recognized grading criteria. In the system, index content according to the grading is input/obtained only at the front end of the equipment and/or at the data input end which is in butt joint with the system.
S1-2, performing preliminary qualitative assessment on the exercise capacity of the child patient based on a first-level GMFCS evaluation system, so that the system can determine a preliminary strategy of rehabilitation exercise.
Namely, when the GMFCS is classified into the I level and the II level, the resistance rehabilitation training mode is corresponding;
when the GMFCS is classified as class III, IV and V, the power assisted rehabilitation training pattern is corresponded.
The above-mentioned division aims at maintaining and improving the training and increasing the resistance training according to the joint movement degree in the conventional rehabilitation training method, respectively, in order to maintain the joint movement and increase the muscle strength. The power-assisted rehabilitation training mode is suitable for infants with GMFCS classification larger than or equal to III level, namely the infants cannot independently complete walking exercise, and training activities are completed by aid of auxiliary training equipment (such as a power exoskeleton) in training. Resistance rehabilitation training refers to that the child finishes training activities under the condition of resisting the joint disturbance moment of auxiliary training equipment, and the child is required to have independent walking movement capacity, so that the resistance rehabilitation training is suitable for the child with GMFCS classification level I and II.
S1-3, performing second-level quantitative evaluation on five grades of GMFCS based on the calculation model of the age, height, weight and muscle strength of the infant.
The method comprises the following steps:
obtaining BMI index according to the height and weight of the infant;
the muscle strength can be obtained by a specific muscle strength signal acquisition system, and is generally measured by an electromyographic signal at the time of maximum isometric contraction, for example: limiting the joint movement of the child patient by using the auxiliary training power training device, measuring the myoelectric signal of the maximum isometric contraction of the child patient, performing full-wave rectification, calculating a myoelectric level mean value, and comparing the myoelectric level mean value with the maximum isometric contraction myoelectric level mean value of the healthy child of the same age in a database to obtain the myoelectric percentage of the myoelectric force of the child patient relative to the myoelectric force of the healthy child of the same age, and then obtaining the relative force condition of the muscle according to comparison.
Generally, the electromyographic signal acquisition system (for example, bortec Biomedical AMT-8) is mainly used for monitoring the active states of flexor and extensor muscles of lower limbs, and has 13 channels, namely, rectus femoris, biceps femoris, semitendinosus, medial rectus femoris, tibialis anterior and lateral gastrocnemius of bilateral lower limbs, and a zero myoelectric channel is required to be calibrated.
The above-mentioned joint movement ability, including the joint movement range (i.e., two extreme positions of each joint in the movable plane) and movement speed (maximum speeds of each joint in two directions in the movable plane), can be measured by the joint angle sensor of the auxiliary training power equipment, and when the measurement is performed, the auxiliary training power equipment needs to be adjusted to the zero moment state, i.e., the auxiliary moment of each jointWherein (1)>Angular acceleration (I)>The angular velocity, the inertia matrix M, the coriolis force centripetal force matrix C and the gravity term G are calculated by using relevant parameters of the exoskeleton only, and the output moment of the joint motor is controlled. Then, the maximum angle data of the joint of the child patient can be kept in a static state and the joint movement angle curve (obtained through feedback of a motor encoder arranged on training equipment) under the maximum joint movement speed can be recorded, and the maximum joint movement speed can be obtained through first-order differentiation of the joint movement angle curve.
When the above data are obtained, the following steps are performed:
s1-2-1. Healthy children of corresponding ages are selected from the database and BMI indexes are calculated, and the muscle strength and joint movement capacity obtain evaluation references of the indexes H S B , H S P And H S M . The evaluation criteria for the infants (age, height, weight) under different physiological conditions were definitely different, and the degree of abnormality of the infants was evaluated.
S1-2-2, comparing each index of the infant with a reference, and obtaining a final score through weighted summation calculation of each index. S is S B / H S B *(0.5S P / H S P +0.5/ H S B ) The formula is obtained by considering the relation between muscle strength and joint movement capacity, the weight of the formula is 0.5, and BMI is used as a correction coefficient.
S1-4, aiming at a training mode after a preliminary strategy, the system control parameters, namely, corresponding boosting or resistance magnitude is adjusted according to the quantitative exercise capacity scoring result of S1-3 so as to correspond to different infants, thereby realizing personalized parameter setting.
Namely, when the muscle strength of the child reaches a normal level, the child is in a resistance mode, and the child is in a power-assisted mode before the child reaches the normal level.
Output torque magnitude = (1-score) ×τ
τ is joint assist torque;
as rehabilitation progresses, the score will gradually increase, and when the score is greater than 1, the output torque is negative, and is resistance.
Specifically, the two rehabilitation training schemes can adjust the power assistance or resistance matched with the movement level of the infant by changing the control parameters, and specific control system parameters are obtained by inputting the quantitative evaluation result of the second level of the movement capability into a mapping model of the movement capability and the control parameters so as to realize the power assistance as required.
Generally, the rehabilitation training scheme gradually transits from the power-assisted training to the resistance training in a normal rehabilitation period, which represents that the muscle strength of the infant is gradually increased and the exercise capacity is gradually recovered. Therefore, the rehabilitation training scheme and the control parameters are continuously changed in one period, and the rehabilitation progress can be controlled by the system or manually adjusted by a rehabilitation engineer.
Therefore, the exercise capacity evaluation needs to be evaluated before each rehabilitation training is performed and synchronized to the medical record management system in time so as to achieve the best matching of the training scheme and the exercise capacity.
The auxiliary training equipment module is related matched training equipment (such as auxiliary training by cerebral palsy auxiliary training equipment), the equipment can be obtained by utilizing the existing equipment or modifying the equipment (the modification refers to the adjustment of the equipment structure according to the physical sign characteristics of children or the disease characteristics of target countermeasure on the basis of the original equipment, and in addition, the modification is also embodied in the installation of various sensing equipment aiming at the appointed test part). Because most of the children suffering from the infantile spasm (the identification of the muscular spasm can be obtained by observing the myoelectric signal), the auxiliary training of the dynamic exoskeleton based on cerebral palsy auxiliary training firstly eliminates the spasm through the stretching motion of the corresponding muscles, can be relieved by a rehabilitation therapist, can also use an AFO orthopedic brace, and then carries out other rehabilitation exercises.
The case management module is used for the contents of basic information, case information, measurement information in each training process and the like of the child patient.
The method comprises the following steps: during training, the infant and the auxiliary training equipment are connected and fixed through the binding bands, and information in the movement process is monitored in real time through a self-contained monitoring system and used for updating the virtual interaction system. After the training is finished, the motion information of the rehabilitation training process is synchronized to the medical record management system for a new round of rehabilitation training process.
The cerebral palsy auxiliary training equipment can be specific complete equipment or can be a combination of a plurality of clinical existing devices, and generally consists of four parts, namely a lower limb training machine, an interactive control system, a virtual scene simulation system and a motion state monitoring system.
The lower limb training machine has the initiative degree of freedom of the hip, knee and ankle joints, meets the requirements of driving force and control performance, and provides assistance or resistance moment required by rehabilitation exercise for the bilateral lower limb joints of the child patient. Meanwhile, the device has the freedom degree meeting the rehabilitation exercise requirement so as to assist the child patient to finish rehabilitation training. For example: including stretching exercise and walking training.
The lower limb training machine comprises three modules of thigh, shank and ankle, and each module is driven by a motor to rotate by a corresponding connecting rod. The length of the connecting rod of the thigh and the calf is adjusted before training is started so as to adapt to children patients with different statures, and the human-computer interface of the infant training device has comfortableness so as to prolong the training time. The mechanical limit is arranged at the joint of the training machine to ensure the safety of rehabilitation exercise, and the limit setting of the angle of the lower limb training machine is larger than the angle movement range of the joint in normal walking exercise because the lower limb training machine has the function of stretching exercise.
The lower limb training machine is provided with a gravity compensation mechanism so that children with higher GMFCS classification and weaker movement capability can walk and train in early rehabilitation stage to accelerate the rehabilitation process. That is, since the child itself does not have the capacity to bear the entire weight, the weight is used to balance a part of the weight of the child at this time, and the child itself is reduced in load, so that the child can be put into walking training as soon as possible.
The lower limb training machine can improve the joint deformity condition of the children patients by adding the joint orthosis.
In addition, the device not only can realize the specific training function of lower limbs, but also has a motion state monitoring system to realize the functions of real-time monitoring and transmitting training information, and the sensing device and the detecting device are arranged at specific positions in consideration of the real-time monitoring and measuring of human body symptoms and physiological data in the training process, for example: the device consists of a heart rate blood pressure monitoring module, a motion information acquisition unit and an electromyographic signal acquisition unit. The heart rate and blood pressure monitoring module is used for acquiring heart rate and blood pressure values of a patient and monitoring physiological conditions of the patient in the rehabilitation training process so as to ensure safety. The motion information acquisition module is used for acquiring information such as the motion range and the motion speed of the joint in rehabilitation exercise, and the myoelectric signals acquired by the myoelectric signal acquisition unit are uploaded to the medical record management system together for evaluating the latest motion level of the infant patient. The method specifically comprises the following steps: the device comprises a sensor for monitoring data such as heartbeat and blood pressure in the training process, a joint angle sensor which is positioned in the sagittal plane of the three joints of the hip, knee and ankle of the bilateral lower limbs of the auxiliary training power exoskeleton, and the like, wherein the measurement accuracy is 0.01 degrees.
The interactive control system specifically comprises an interactive operation system and a dynamic exoskeleton control system. On one hand, the system can realize the function of transmitting training data and monitoring data to a main body in real time, and also can receive information and instructions transmitted by the main body part in real time, and the strategy of the control system is adapted to the strategy of the rehabilitation scheme so as to meet the cooperative control requirement of the formulated rehabilitation scheme on joint movement.
The control process is based on the regulation and control of the gait track of the healthy children, so that the healthy children have the characteristic of flexibility in track output, and the input motion track can be adjusted under the condition that the interaction force between the human and the machine reaches a set threshold value, so that the user is ensured not to be strained.
The man-machine interaction force is measured by a film pressure sensor on each binding belt, and the front side and the rear side of each binding belt in the sagittal plane are respectively provided with one binding belt.
The virtual scene simulation system is designed based on immersion theory, can realize limb action collection and rehabilitation simulation under specific scenes, and improves rehabilitation training effects. The virtual scene system updates the rendering scene in real time through the movement speed information returned by the lower limb training machine and the gesture information shot by the camera and outputs the rendering scene to the display through the image output equipment so as to realize immersion experience.
In addition, considering the requirements of proposal perfection and confirmation, the interactive operation system firstly needs a rehabilitation engineer to log in an internal account when in use, and grants operation authority through an information management system of a hospital. After the medical record information of the child patient is read, the rehabilitation scheme and the control parameters automatically generated by the system can be adjusted/confirmed, and after the duration, the scene and the like of rehabilitation training are selected/confirmed, training is started.
The feedback of the motion state detection system can be obtained in the training process, the motion state information of the rehabilitation training of the child patient and the physiological information of the child patient can be displayed in real time, and when the motion state detection system feeds back an abnormal signal, an abnormal termination signal is automatically sent to the control system, and the training is immediately terminated.
The training feedback and follow-up visit are composed of rehabilitation effect evaluation, home rehabilitation and follow-up investigation.
The rehabilitation effect evaluation is carried out by comprehensively considering the difference between the rehabilitation starting point and the rehabilitation ending point of the evaluation result of the motor ability of the child patient and the quantized rehabilitation effect evaluation result of the rehabilitation period length, and analyzing the essential factor of the quantitative rehabilitation effect evaluation result to provide a reference for the subsequent rehabilitation scheme formulation. And finally synchronizing the analysis result to a medical record management system.
The family rehabilitation is selected according to the traditional rehabilitation training scheme and the specific condition of the infant, and aims to maintain the joint mobility of the infant, promote the growth and development of muscles of the infant and keep the rehabilitation training effect to the maximum extent.
The follow-up assessment tracks the status of the infant in a manner that periodically reviews and issues questionnaires.
The medical record management system is characterized in that: the electronic medical record for the whole period of rehabilitation diagnosis and treatment can be generated according to the exercise information and the physiological information of the patient acquired by rehabilitation exercise training.
The medical record management system can generate the electronic medical record for the whole period of rehabilitation diagnosis and treatment according to the exercise information and the physiological information of the patient acquired by rehabilitation exercise training.
The medical record management system can inquire the operation authority after each rehabilitation training is finished, and update the data information after the operation authority is acquired so as to ensure the pertinence of the rehabilitation scheme formulation.
Claims (7)
1. The utility model provides a children low limbs motion auxiliary rehabilitation system based on power ectoskeleton which characterized in that: comprises a rehabilitation system main body;
the rehabilitation system main body comprises a movement capability assessment module, a rehabilitation scheme generation module, an auxiliary training module and a case management module;
the case management module is used for storing medical record information of the child patient;
the exercise capacity assessment module obtains an exercise capacity assessment result according to medical record information of the child patient;
the rehabilitation scheme generating module generates a corresponding personalized training scheme according to the exercise capacity evaluation result;
the auxiliary training module synchronizes various data in the infant training process to the case management module;
the exercise capacity evaluation module comprises a GMFCS grading evaluation unit and a quantization evaluation unit;
the GMFCS grading evaluation unit performs qualitative evaluation on the exercise capacity of the child patient to obtain a preliminary grading result; the rehabilitation scheme generating module generates a preliminary training scheme according to the preliminary grading result;
the quantitative evaluation unit is used for quantitatively evaluating the exercise capacity of the infant to obtain a quantitative evaluation result;
the rehabilitation scheme generating module is used for adjusting parameters in the preliminary training scheme according to the quantitative evaluation result to generate a personalized training scheme;
the method for obtaining the quantitative evaluation result comprises the following steps:
s1, obtaining necessary indexes of an infant: age, BMI index S B Muscle strength S P Articulation ability S M ；
S2, selecting healthy child data corresponding to the child patient from a preset database, obtaining BMI index, muscle strength and joint movement capacity data of the healthy child, and setting the BMI index, muscle strength and joint movement capacity data as evaluation references H S B , H S P And H S M ；
s3, comparing each index of the infant obtained in the S1 with an evaluation standard respectively;
s4, obtaining a final score by carrying out weighted summation calculation on each index;
the specific method for adjusting the parameters in the preliminary training scheme comprises the following steps:
when the muscle strength of the child reaches a normal level, the child is in a resistance mode, and the child is in a power-assisted mode before reaching the normal level;
output torque magnitude = (1-score) ×τ
τ is joint assist torque;
when the score is larger than 1, the output torque is negative, and the resistance is the same.
2. A powered exoskeleton-based child lower limb movement assisted rehabilitation system as claimed in claim 1, wherein:
the training aid also comprises an auxiliary training device component;
the auxiliary training equipment component comprises a training equipment unit, a scene simulation unit, a motion monitoring unit and a data interaction unit;
the training equipment unit is one or more training devices and is worn on a designated part of the child patient; the scene simulation unit comprises a plurality of virtual scenes;
the motion monitoring unit comprises one or more sensors which are internally arranged in the training device and a monitor which is worn at a designated part of the child patient;
and the data interaction unit is used for carrying out data interaction with the rehabilitation system main body.
3. A powered exoskeleton-based lower limb exercise assisted rehabilitation system for children as claimed in claim 2, wherein:
the data interaction process comprises the following steps:
s1, after a rehabilitation system main body and auxiliary training equipment are paired, receiving a personalized training scheme of a current infant;
s2, adjusting the operation strategy of the training equipment according to the personalized training scheme;
s3, in the training process, the motion trail of the training equipment, the sensor and the monitor are synchronously transmitted to the rehabilitation system main body in real time.
4. A powered exoskeleton-based child lower limb movement assisted rehabilitation system as claimed in claim 1, wherein:
the rehabilitation system main body also comprises a monitoring module;
the monitoring module monitors the motion trail of the returned training equipment, and adjusts the motion strategy according to the preset amplitude when the deviation rate of the motion trail is found to be larger than the rated value.
5. A powered exoskeleton-based lower limb exercise assisted rehabilitation system for children as claimed in claim 2, wherein:
the scene simulation unit further comprises image acquisition and output equipment;
the image acquisition and output equipment acquires the training condition of the child patient in the virtual scene and synchronously transmits the acquired information to the rehabilitation system main body through the data interaction unit.
6. A powered exoskeleton-based child lower limb movement assisted rehabilitation system as claimed in claim 1, wherein:
the rehabilitation system main body also comprises a monitoring module;
the monitoring module evaluates the sign characteristics of the infant fed back by the sensor and the monitor acquired in real time, and feeds back a warning prompt to the rehabilitation system main body when the evaluation result deviates from the health value, and stops the current training.
7. A powered exoskeleton-based child lower limb movement assisted rehabilitation system as claimed in claim 1, wherein:
the rehabilitation system main body further comprises a feedback module;
and the feedback module is used for counting and analyzing the rehabilitation condition of the infant under the current platform.
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| CN114403858B (en) * | 2021-12-29 | 2023-10-03 | 杭州程天科技发展有限公司 | Human body movement function assessment method, device and system |
| CN114366557A (en) * | 2021-12-31 | 2022-04-19 | 华南理工大学 | Man-machine interaction system and method for lower limb rehabilitation robot |
| CN114392126B (en) * | 2022-01-24 | 2023-09-22 | 佳木斯大学 | Disabled children's hand cooperation training system |
| CN115938540B (en) * | 2022-12-14 | 2024-02-27 | 中科创新(深圳)技术控股有限公司 | Scene interaction children rehabilitation training system based on cloud platform |
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