CN109223441A - A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor - Google Patents

A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor Download PDF

Info

Publication number
CN109223441A
CN109223441A CN201811065977.6A CN201811065977A CN109223441A CN 109223441 A CN109223441 A CN 109223441A CN 201811065977 A CN201811065977 A CN 201811065977A CN 109223441 A CN109223441 A CN 109223441A
Authority
CN
China
Prior art keywords
upper limb
module
human body
motion
human
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811065977.6A
Other languages
Chinese (zh)
Inventor
谢小鹏
宗驰航
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
South China University of Technology SCUT
Original Assignee
South China University of Technology SCUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by South China University of Technology SCUT filed Critical South China University of Technology SCUT
Priority to CN201811065977.6A priority Critical patent/CN109223441A/en
Publication of CN109223441A publication Critical patent/CN109223441A/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1269—Passive exercise driven by movement of healthy limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明公开了一种基于Kinect传感器的人体上肢康复训练及动作辅助系统，包括人体运动识别系统、外骨骼装置和控制箱；人体运动识别系统包括依次连接的传感器模块、数据收集模块、数据缓存模块、微处理器和数模转换器；外骨骼装置为双臂提供三自由度辅助运动，其包括马达及编码器；控制箱包括互相连接的I/O模块和处理器芯片，所述处理器芯片连接远程控制电脑。本系统使用传感器模块进行人机交互，并利用外骨骼装置实现上肢运动的辅助以及康复功能。针对具有上肢功能障碍，通过传感器模块检测患者上肢的运动信息，通过辨别人体骨骼及上肢的角度决定上肢的运动趋势，能够对肩关节屈曲/伸展、外展/内收和肘关节的屈曲/伸展三个自由度进行辅助。

The invention discloses a human body upper limb rehabilitation training and action assistance system based on Kinect sensors, comprising a human body motion recognition system, an exoskeleton device and a control box; the human body motion recognition system comprises a sensor module, a data collection module and a data cache module which are connected in sequence. , a microprocessor and a digital-to-analog converter; the exoskeleton device provides three-degree-of-freedom auxiliary motion for the arms, which includes a motor and an encoder; the control box includes an interconnected I/O module and a processor chip, the processor chip Connect to a remote control computer. The system uses the sensor module for human-computer interaction, and uses the exoskeleton device to realize the auxiliary and rehabilitation functions of the upper limb movement. For upper limb dysfunction, the motion information of the patient's upper limb is detected by the sensor module, and the motion trend of the upper limb is determined by identifying the angle of the human skeleton and the upper limb. Three degrees of freedom assist.

Description

A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor
Technical field
The present invention relates on upper limb healing and auxiliary movement field more particularly to a kind of human body based on Kinect sensor Limbs rehabilitation training and movement auxiliary system.
Background technique
Due to disease and accident, many people have suffered from the disease of upper limb kinetic energy obstacle, especially most of apoplexy Patient will receive the influence of hemiplegia in stationary phase.For the patient of the situation, need to provide for it at the initial stage of illness certain strong The rehabilitation training of degree is to improve the degrees of motion of upper limb.And the rehabilitation later period is arrived, it is also necessary to assist its daily life.Whole During a rehabilitation, needs to engage rehabilitation training teacher and life entourage of profession, aggravated the burden of patient.
Summary of the invention
The shortcomings that it is an object of the invention to overcome the above-mentioned prior art and deficiency provide a kind of based on Kinect sensor Human upper limb rehabilitation training and movement auxiliary system.Upper limb disorder patient is helped to carry out autonomous rehabilitation training and to day Often life is assisted.
The present invention is achieved through the following technical solutions:
A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor, including human motion identification System, exoskeleton device and control cabinet；
The human body movement recognition system includes sequentially connected sensor module, data collection module, data buffer storage mould Block, microprocessor and digital analog converter；
The exoskeleton device provides Three Degree Of Freedom synkinesia for both arms comprising motor and encoder；
The control cabinet includes the I/O module and processor chips interconnected, the long-range control of processor chips connection Computer processed；The I/O module includes AD plate, tally and DA plate；
The digital analog converter connects AD plate；
The encoder connection count plate；
The DA plate connects motor by motor driver.
The mounting height of the sensor module is higher than the height of tested human body, and is mounted on distance and is tested human body 1.5~2 The position of rice, the angle of depression for shooting sensor module downwards obtain complete skeleton figure acquisition at 10 °~15 °, to facilitate.
The human upper limb rehabilitation training based on Kinect sensor and the operating procedure for acting auxiliary system include:
Human motion consciousness identifying system identifies human motion；I.e. sensor module detects human upper limb Angle value, and transfer data on data collection module, and by the data buffer storage of collection in data cache module, then by micro- It is spread out of by serial communication to digital analog converter after processor processing and is converted into analog signal, which fills as ectoskeleton The input signal set；
Control cabinet controls the movement of ectoskeleton auxiliary device, i.e., the AD plate in I/O module in control cabinet is for receiving from people The human upper limb locomotion information obtained in body motor mindedness identifying system, and be transferred in processor chips and carry out data processing； Treated, and signal is spread out of by DA plate to motor driver, and drive motor moves, and is mentioned using controlling exoskeleton device as both arms It is acted for Three Degree Of Freedom synkinesia；
Exoskeleton device provides auxiliary movement for upper limb, i.e., it by the turning joint between two connecting rods by being formed by connecting Mechanical arm three-degree-of-freedom motion, both arms auxiliary movement is provided；The signal that motor driver is exported by receiving DA plate, controls machine The rotation of motor at each shutdown of tool arm；Encoder is mounted on each motor, for obtaining the rotation data of upper limb and being transferred to control On tally in case processed；
Human upper limb locomotion information and RGB picture are passed through transmission of network to long-range control by sensor data collection module Computer enables a physician to obtain data information of the patient in rehabilitation course in distal end by remotely controlling computer.
The present invention compared with the existing technology, have following advantages and effects
Human-computer interaction is carried out using sensor module (Kinect), and real using exoskeleton device (upper limb exoskeleton device) The auxiliary and recovery function of existing upper extremity exercise.For with the hemiplegic patient after upper limb disorder, especially apoplexy, pass through Sensor module detects the motion information of patient's upper limb, by distinguishing that the angle of skeleton and upper limb determines that the movement of upper limb becomes Gesture, can buckling/stretching, extension three degree of freedom to shoulder joint buckling/stretching, extension, abduction/adduction and elbow joint assist.Patient The rehabilitation training to suffering limb can be realized by the autonomous of healthy side upper limb.
Meanwhile the information of the RGB picture that detects of sensor module and patient's upper limb can by network transmission to distally, Rehabilitation teacher and doctor can provide remote rehabilitation guidance and diagnosis according to the actual conditions of patient.The invention can be used in upper limb In the daily rehabilitation training of dyskinesia patient and life, different illness period is according to patient, rehabilitation training/daily is provided Two different services are assisted, to improve the quality of life of patient.
Detailed description of the invention
Fig. 1 is that the present invention is based on the upper limb mirror image rehabilitations of Kinect and daily auxiliary system block schematic illustration.
Fig. 2 is the human-computer interaction the present invention is based on the human upper limb rehabilitation training of Kinect sensor and movement auxiliary system System structure diagram.
Fig. 3 is that Kinect sensor is in detection pattern schematic diagram one.
Fig. 4 is that Kinect sensor is in detection pattern schematic diagram two.
Fig. 5 is more Kinect sensor joint auxiliary system schematic diagrames.
Specific embodiment
The present invention is more specifically described in detail combined with specific embodiments below.
As shown in Figs. 1-5.The invention discloses a kind of human upper limb rehabilitation training and movement based on Kinect sensor Auxiliary system, including human body movement recognition system, exoskeleton device and control cabinet；
The human body movement recognition system includes sequentially connected sensor module, data collection module, data buffer storage mould Block, microprocessor and digital analog converter；
The exoskeleton device provides Three Degree Of Freedom synkinesia for both arms comprising motor and encoder；
The control cabinet includes the I/O module and processor chips interconnected, the long-range control of processor chips connection Computer processed；The I/O module includes AD plate, tally and DA plate；
The digital analog converter connects AD plate；
The encoder connection count plate；
The DA plate connects motor by motor driver.
The mounting height of the sensor module is higher than the height of tested human body, and is mounted on distance and is tested human body 1.5~2 The position of rice, the angle of depression for shooting sensor module downwards obtain complete skeleton figure acquisition at 10 °~15 °, to facilitate. The control of Kinect is write, using Visual Studio to obtain real-time human upper limb locomotion data.Obtaining upper limb fortune After dynamic angle information, it is transferred in exoskeleton device by the bluetooth module of Arduino microprocessor.
The human upper limb rehabilitation training based on Kinect sensor and the operating procedure for acting auxiliary system include:
Human motion consciousness identifying system identifies human motion；I.e. sensor module detects human upper limb Angle value, and transfer data on data collection module, and by the data buffer storage of collection in data cache module, then by micro- It is spread out of by serial communication to digital analog converter after processor processing and is converted into analog signal, which fills as ectoskeleton The input signal set；
Wherein, sensor module parameter is Kinect 2.0, is second generation Kinect for Windows inductor.Data Collection module parameter are as follows: MSI-GL63i7-8750H 8GRAM.Microprocessor parameters are Arduino, i.e. Arduino Uno bluetooth Module HC-05.Digital analog converter parameter is TLC-5615.
Control cabinet controls the movement of ectoskeleton auxiliary device, i.e., the AD plate in I/O module in control cabinet is for receiving from people The human upper limb locomotion information obtained in body motor mindedness identifying system, and be transferred in processor chips and carry out data processing； Treated, and signal is spread out of by DA plate to motor driver, and drive motor moves, and is mentioned using controlling exoskeleton device as both arms It is acted for Three Degree Of Freedom synkinesia；
Wherein, AD board parameter is the channel PCI-3341A-8.DA board parameter is the channel PCI-3135-16.Processor chips are Hitachi, Japan develops SH4 chip.
Exoskeleton device provides auxiliary movement for upper limb, i.e., it by the turning joint between two connecting rods by being formed by connecting Mechanical arm three-degree-of-freedom motion, both arms auxiliary movement is provided；The signal that motor driver is exported by receiving DA plate, controls machine The rotation of motor at each shutdown of tool arm；Encoder is mounted on each motor, for obtaining the rotation data of upper limb and being transferred to control On tally in case processed；
Wherein, motor is servo, altogether there are three, be located at each joint, be responsible for the movement in each joint, parameter point It is not: FAULHABER 3557K012CR；FAULHABER 3863H012C；FAULHABER 3557K012CR.The coding of motor Device parameter is PCI-6201E.Motor driver parameter is TITEC PC-0143-2.
Sensor data collection module (including the computer of Kinect sensor module and data collection module) is by people Body upper extremity exercise information and RGB picture pass through transmission of network to remotely controlling computer, are enabled the clinician to by remotely controlling computer It is enough to obtain data information of the patient in rehabilitation course in distal end.
Below by concrete application process, the invention will be further described.
After obtaining human upper limb locomotion information, user can according to the actual conditions of itself select rehabilitation training or The daily auxiliary both of which of person.Specific process is as follows:
(1) patient for needing to carry out recovery training for illness initial stage can choose and use autonomous rehabilitation modality.The mould Patient can will be mirrored in suffering limb by healthy side upper limb autokinetic movement, motion profile under formula.Sensor module (Kinect) upper extremity exercise of user health side will be detected, patient is dynamic by the rehabilitation of learning and mastering standard set Make, and executes the movement using the upper limb of healthy side.The movement is transmitted at suffering limb by mirror image rehabilitation training system, auxiliary Suffering limb executes autonomous recovery training.For user when lifting the right limbs, equipment can be by the movement mirror image on right side Onto the upper limb on the left side, independence rehabilitation training is carried out to left side upper limb.
(2) patient of certain limb motion ability recovered for the illness later period, can choose daily auxiliary using upper limb Help mode.The mode lower sensor module (Kinect) will detect the movement of patient, when being provided according to the movement of suffering limb for it Ground auxiliary.Since the muscular strength of upper limb under the state does not restore completely, patient independently lifts hand in the case where nobody helps Arm and maintenance operating stably will have certain difficulty.Equipment can be according to trouble after the auxiliary device under using the mode The actual motion of person's upper limb provides certain auxiliary force for it, to help patient independently to lift upper limb and execute some simple days Normal life activities.Be able to ascend the quality of life of patient under the mode, patient do not need with the help of other people can independently into Behavior is managed in some simple daily lifes of row.When user lifts right side upper limb, equipment can be according to the track of its movement It provides for it and assists in real time, need to only use the power of very little that can lift upper limb and remain stable by lifting upper limb user State.
By two different auxiliary modes, which can provide rehabilitation training and life to upper extremity exercise impaired patients Auxiliary living.Combine auxiliary system by building more Kinect, builds broader auxiliary space, widened the use of equipment Range, as shown in Figure 4.Meanwhile the human upper limb locomotion data being collected into and rgb video can arrive distal end using network transmission At doctor, doctor can provide long-range diagnosis and guidance for patient according to the information being collected into.Using the system, user is not required to Going out door can be carried out rehabilitation training, while oneself can also carry out some simple activitiess of daily life in the rehabilitation later period, Doctor does not need to go to scene to patient's memory interrogation every time yet.This invents the living burden that can reduce patient, while Improve treatment efficiency.
As described above, the present invention can be better realized.
Embodiment of the present invention are not limited by the above embodiments, other are any without departing from Spirit Essence of the invention With changes, modifications, substitutions, combinations, simplifications made under principle, equivalent substitute mode should be, be included in of the invention Within protection scope.

Claims (3)

1.一种基于Kinect传感器的人体上肢康复训练及动作辅助系统，其特征在于：包括人体运动识别系统、外骨骼装置和控制箱；1. a human body upper limb rehabilitation training and action assistance system based on Kinect sensor, it is characterized in that: comprise human body motion recognition system, exoskeleton device and control box; 所述人体运动识别系统包括依次连接的传感器模块、数据收集模块、数据缓存模块、微处理器和数模转换器；The human body motion recognition system includes a sensor module, a data collection module, a data cache module, a microprocessor and a digital-to-analog converter connected in sequence; 所述外骨骼装置为双臂提供三自由度辅助运动，其包括马达及编码器；The exoskeleton device provides three-degree-of-freedom auxiliary motion for the arms, which includes a motor and an encoder; 所述控制箱包括互相连接的I/O模块和处理器芯片，所述处理器芯片连接远程控制电脑；所述I/O模块包括AD板、计数板和DA板；The control box includes an I/O module and a processor chip that are connected to each other, and the processor chip is connected to a remote control computer; the I/O module includes an AD board, a counting board, and a DA board; 所述数模转换器连接AD板；The digital-to-analog converter is connected to the AD board; 所述编码器连接计数板；The encoder is connected to the counting board; 所述DA板通过马达驱动器连接马达。The DA board is connected to the motor through the motor driver. 2.根据权利要求1所述基于Kinect传感器的人体上肢康复训练及动作辅助系统，其特征在于：所述传感器模块的安装高度高于被测人体的高度，并安装在距离被测人体1.5～2米的位置，使传感器模块向下拍摄的俯角在10°～15°，以方便获取完整的人体骨骼图采集。2. The human upper limb rehabilitation training and action assistance system based on the Kinect sensor according to claim 1, wherein the installation height of the sensor module is higher than the height of the human body to be measured, and is installed at a distance of 1.5 to 2 from the human body to be measured. The position of the sensor module is 10° to 15°, so that it is convenient to obtain a complete human skeleton map collection. 3.根据权利要求2所述基于Kinect传感器的人体上肢康复训练及动作辅助系统，其特征在于：该基于Kinect传感器的人体上肢康复训练及动作辅助系统的运行步骤包括：3. The human body upper limb rehabilitation training and motion assistance system based on Kinect sensor according to claim 2, it is characterized in that: the operation step of this human body upper limb rehabilitation training and motion assistance system based on Kinect sensor comprises: 人体运动意识识别系统对人体运动意识进行识别；即传感器模块检测人体上肢的角度值，并将数据传输到数据收集模块上，并将收集的数据缓存在数据缓存模块中，再由微处理器处理后通过串行通信传出至数模转换器转换成模拟信号，该模拟信号作为外骨骼装置的输入信号；The human motion awareness recognition system recognizes human motion awareness; that is, the sensor module detects the angle value of the upper limbs of the human body, and transmits the data to the data collection module, and caches the collected data in the data cache module, which is then processed by the microprocessor. Then, it is transmitted to the digital-to-analog converter through serial communication and converted into an analog signal, and the analog signal is used as the input signal of the exoskeleton device; 控制箱控制外骨骼辅助装置动作，即控制箱中的I/O模块中的AD板用于接收从人体运动意识识别系统中获得的人体上肢运动信息，并传输到处理器芯片上进行数据处理；处理后的信号通过DA板传出至马达驱动器，并驱动马达运动，以控制外骨骼装置为双臂提供三自由度辅助运动动作；The control box controls the action of the exoskeleton auxiliary device, that is, the AD board in the I/O module in the control box is used to receive the motion information of the upper limbs of the human body obtained from the human motion awareness recognition system, and transmit it to the processor chip for data processing; The processed signal is transmitted to the motor driver through the DA board, and drives the motor movement to control the exoskeleton device to provide three degrees of freedom auxiliary movement for the arms; 外骨骼装置为上肢提供辅助动作，即其通过由两根连杆之间的活动关节连接而成的机械臂三自由度运动，提供双臂辅助动作；马达驱动器通过接受DA板输出的信号，控制机械臂各关机处马达的转动；各马达上安装了编码器，用于获取上肢的转动数据并传输到控制箱中的计数板上；The exoskeleton device provides auxiliary actions for the upper limbs, that is, it moves through the three-degree-of-freedom movement of the mechanical arm formed by the movable joint between the two connecting rods, providing auxiliary actions for the two arms; the motor driver controls the output of the DA board by receiving the signal. The rotation of the motor at each shutdown point of the robotic arm; the encoder is installed on each motor to obtain the rotation data of the upper limb and transmit it to the counting board in the control box; 传感器数据收集模块将人体上肢运动信息以及RGB画面通过网络传送至远程控制电脑，通过远程控制电脑使医生能够在远端获取患者在康复过程中的数据信息。The sensor data collection module transmits the motion information of the upper limbs of the human body and the RGB picture to the remote control computer through the network, and the remote control computer enables the doctor to obtain the data information of the patient during the rehabilitation process at the remote end.
CN201811065977.6A 2018-09-13 2018-09-13 A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor Pending CN109223441A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811065977.6A CN109223441A (en) 2018-09-13 2018-09-13 A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811065977.6A CN109223441A (en) 2018-09-13 2018-09-13 A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor

Publications (1)

Publication Number Publication Date
CN109223441A true CN109223441A (en) 2019-01-18

Family

ID=65057980

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811065977.6A Pending CN109223441A (en) 2018-09-13 2018-09-13 A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor

Country Status (1)

Country Link
CN (1) CN109223441A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111739393A (en) * 2020-06-28 2020-10-02 山东省医药生物技术研究中心（山东省病毒研究所） Wearable massage teaching auxiliary system based on motion capture system
CN112966370A (en) * 2021-02-09 2021-06-15 武汉纺织大学 Design method of human body lower limb muscle training system based on Kinect
CN113398537A (en) * 2021-06-15 2021-09-17 黄富表 Microsoft Kinect-based upper limb motor function training method for stroke patient
CN113679568A (en) * 2021-09-01 2021-11-23 南京医科大学 Robot-assisted multi-mode mirror image rehabilitation training scoring system for upper limbs of stroke patients
CN115295119A (en) * 2022-07-01 2022-11-04 复旦大学附属中山医院 A hand function rehabilitation training interactive system and method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102727362A (en) * 2012-07-20 2012-10-17 上海海事大学 NUI (Natural User Interface)-based peripheral arm motion tracking rehabilitation training system and training method
CN103386683A (en) * 2013-07-31 2013-11-13 哈尔滨工程大学 Kinect-based motion sensing-control method for manipulator
US20140172166A1 (en) * 2012-08-30 2014-06-19 Snu R&Db Foundation Treatment device for hemiplegia
JP2016073630A (en) * 2014-10-03 2016-05-12 国立大学法人豊橋技術科学大学 Movement training support device
CN106618958A (en) * 2016-12-16 2017-05-10 南通大学 Somatic sensory controlled upper limb exoskeleton mirrored rehabilitation robot
CN106671084A (en) * 2016-12-20 2017-05-17 华南理工大学 Mechanical arm self-directed auxiliary system and method based on brain-computer interface
CN107158659A (en) * 2017-07-12 2017-09-15 南京邮电大学 A kind of long-range rehabilitation training of upper limbs system and method for game type based on Kinect

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102727362A (en) * 2012-07-20 2012-10-17 上海海事大学 NUI (Natural User Interface)-based peripheral arm motion tracking rehabilitation training system and training method
US20140172166A1 (en) * 2012-08-30 2014-06-19 Snu R&Db Foundation Treatment device for hemiplegia
CN103386683A (en) * 2013-07-31 2013-11-13 哈尔滨工程大学 Kinect-based motion sensing-control method for manipulator
JP2016073630A (en) * 2014-10-03 2016-05-12 国立大学法人豊橋技術科学大学 Movement training support device
CN106618958A (en) * 2016-12-16 2017-05-10 南通大学 Somatic sensory controlled upper limb exoskeleton mirrored rehabilitation robot
CN106671084A (en) * 2016-12-20 2017-05-17 华南理工大学 Mechanical arm self-directed auxiliary system and method based on brain-computer interface
CN107158659A (en) * 2017-07-12 2017-09-15 南京邮电大学 A kind of long-range rehabilitation training of upper limbs system and method for game type based on Kinect

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111739393A (en) * 2020-06-28 2020-10-02 山东省医药生物技术研究中心（山东省病毒研究所） Wearable massage teaching auxiliary system based on motion capture system
CN112966370A (en) * 2021-02-09 2021-06-15 武汉纺织大学 Design method of human body lower limb muscle training system based on Kinect
CN112966370B (en) * 2021-02-09 2022-04-19 武汉纺织大学 Design method of human body lower limb muscle training system based on Kinect
CN113398537A (en) * 2021-06-15 2021-09-17 黄富表 Microsoft Kinect-based upper limb motor function training method for stroke patient
CN113679568A (en) * 2021-09-01 2021-11-23 南京医科大学 Robot-assisted multi-mode mirror image rehabilitation training scoring system for upper limbs of stroke patients
CN115295119A (en) * 2022-07-01 2022-11-04 复旦大学附属中山医院 A hand function rehabilitation training interactive system and method

Similar Documents

Publication Publication Date Title
CN109223441A (en) A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor
US11771613B2 (en) Robot system for active and passive upper limb rehabilitation training based on force feedback technology
CN105213153B (en) Lower limb rehabilitation robot control method based on brain flesh information impedance
CN112494276B (en) A hand rehabilitation robot system
CN104666047B (en) The bilateral mirror image rehabilitation system perceived based on biological information
WO2021243918A1 (en) Upper-limb function evaluation apparatus and method, and upper-limb rehabilitation training system and method
CN109820695A (en) A ICU ward horizontal bilateral cerebral palsy lower extremity rehabilitation robot with communication and autonomous navigation and movement functions
CN105943207B (en) One kind is based on idiodynamic intelligent artificial limb kinematic system and its control method
CN108814894A (en) The upper limb rehabilitation robot system and application method of view-based access control model human body pose detection
CN106974795B (en) A kind of drive lacking upper limb rehabilitation robot control system
CN101301250A (en) Control strategy for interactive rehabilitation training of five-degree-of-freedom exoskeleton upper limb rehabilitation robot
CN111067543A (en) Man-machine interaction system of horizontal stepping type rehabilitation training robot
CN113397918B (en) A wearable elbow exoskeleton rehabilitation control system
CN111803330A (en) Upper limb elbow joint rehabilitation device
Bien et al. Intention reading is essential in human-friendly interfaces for the elderly and the handicapped
CN104983549A (en) An intelligent upper limb rehabilitation training device
CN114099234A (en) An intelligent rehabilitation robot data processing method and system for assisting rehabilitation training
CN102551986A (en) Active-passive adaptive control method of upper and lower limb recovery training robot
CN111035535A (en) A stroke rehabilitation training system and method
CN113679568B (en) Robot-assisted upper limb multimodal mirror rehabilitation training scoring system for stroke patients
Cao et al. Development and evaluation of a rehabilitation wheelchair with multiposture transformation and smart control
Zeng et al. Motion prediction based on sEMG-transformer for lower limb exoskeleton robot control
CN105455996A (en) Multisource signal feedback control rehabilitation training device based on wireless
CN108392794A (en) A kind of upper limb initiative rehabilitation training system based on array-type flexible pressure sensor
CN210472556U (en) Upper limb rehabilitation system based on wrist joints and rehabilitation gloves

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20190118