TWI454255B - The use of muscle signal control of the rehabilitation system - Google Patents
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Description
本發明係一種復健系統，尤指一種利用肌動信號控制之復健系統。 The invention relates to a rehabilitation system, in particular to a rehabilitation system using muscle signal control.
於醫學領域中，所區分之專業種類繁多，而大凡一個人因為生理疾病引起的疼痛，關節攣縮、變形，肌肉萎縮、無力或痙攣，平衡、協調能力變差，或者因為肢體殘缺、畸形，或是心肺疾病、心智障礙、語言障礙等導致生活能力的降低或喪失，皆為復健醫學所治療之對象。 In the medical field, there are many different types of professions, and the pain caused by physical diseases, joint contracture, deformation, muscle atrophy, weakness or paralysis, poor balance, coordination, or limb disability, deformity, or Cardiopulmonary diseases, mental disorders, speech disorders, etc. lead to the reduction or loss of living ability, which are the targets of rehabilitation medicine.
而在軀體上所因為障礙而造成的生活能力降低，例如中風造成的部分癱瘓、運動傷害造成的肌肉損傷，或是在職業運動員在經過開刀治療，因久未進行強力訓練而造成的肌肉萎縮，皆須透過復健醫學中的一系列復健療以便康復。 The physical ability caused by the obstacles in the body is reduced, such as partial spasms caused by stroke, muscle damage caused by sports injuries, or muscle atrophy caused by long-term intensive training after professional athletes undergo surgery. Rehabilitation is required through a series of rehabilitation treatments in rehabilitation medicine.
然而由於現今大部份的復健運動系統皆以被動式為主，也就是說，經常在病人在沒有運動的意願之下，復健系統仍然繼續在運作，因此，在這種淪為單向式的復健操作模式之下，病人的復健進程皆很不理想。若不能使復健達到預期的效果，則漫長的復健歷程將會變調為漫長的無謂時間浪費，這種情況對於運動生命有其限制之職業選手而言，更是莫大的損失。 However, most of the rehabilitation exercise systems today are mainly passive. That is to say, the rehabilitation system is still operating under the patient's willingness to exercise. Therefore, this is a one-way type. Under the rehabilitation mode, the patient's rehabilitation process is very unsatisfactory. If the rehabilitation can not achieve the desired effect, the long rehabilitation process will be changed to a long waste of unnecessary time, which is a great loss for the professional players who have limited sports life.
在肌肉強度上的復健療程中，過去常有透過肌電訊號(EMG)做為偵測肌肉活動的方法，以肌電訊號所做成之肌電圖檢查是 利用神經及肌肉的電生理特性，透過電流刺激神經來記錄其運動和感覺的反應，肌電圖可以偵測神經病變或損傷的位置、性質與嚴重程度，因而便協助醫師能夠正確做出臨床診斷、選擇治療方式、評估治療效果和推斷疾病的預後。而取得肌電訊號的方法是將針極刺入肌肉，來記錄在各種電擊狀態下的電位活動，再經由多條肌肉的檢查來判定神經、肌肉病變的特性，部位及範圍和嚴重度。 In the rehabilitation treatment of muscle strength, in the past, the electromyography (EMG) was often used as a method to detect muscle activity. The electromyogram examination made by myoelectric signal is Using the electrophysiological properties of nerves and muscles, the nerves are stimulated by current to record their movements and sensations. Electromyography can detect the location, nature and severity of neuropathy or injury, thus assisting physicians in making clinical diagnosis correctly. Select treatment options, assess treatment outcomes, and infer the prognosis of the disease. The method of obtaining the myoelectric signal is to insert the needle into the muscle to record the potential activity under various electric shock conditions, and then to determine the characteristics, location, extent and severity of the nerve and muscle lesion through the examination of multiple muscles.
然而，針極方法是一種侵入性的採值方式，對病人會造成疼痛的感覺，特別是使用同軸針極的時候，因此後期開發出非侵入性的技術，透過偵測表面肌肉運動單元動作電位來取得肌電訊號。 However, the needle-pole method is an invasive method of harvesting, which causes pain to the patient, especially when using a coaxial needle. Therefore, a non-invasive technique was developed in the later stage to detect the action potential of the surface muscle movement unit. To get the EMG signal.
然而以肌電訊號做為參考數值有其缺現存在，特別是在採值上的麻煩性與不穩定性。在取得肌電訊號的過程中，需要使用三個電極，這三個電極中，兩個是差動訊號(Differential Signal)電極，一個是參考訊號(Reference Signal)電極；於測量時這三個電極將被置於皮膚表面，然而人體皮膚具有電阻，此電阻值將會影響到採集到之肌電訊號的準確度，也正因為如此，每次在置放電極前所需的前置步驟就變得相當繁瑣，例如將皮膚先行做清理、去角質等等。因此，如何使用一種更為便利、不需要置放三電極或是對皮膚先做清理動作之偵測肌肉狀態之方法，即為重要之課題。 However, the use of myoelectric signals as reference values has its shortcomings, especially the cumbersomeness and instability of the value. In the process of obtaining myoelectric signals, three electrodes are needed. Two of the three electrodes are differential signal electrodes, one is a Reference Signal electrode, and the three electrodes are measured. Will be placed on the surface of the skin, but the human skin has resistance, this resistance value will affect the accuracy of the acquired myoelectric signal, and because of this, the pre-step required each time before placing the electrode becomes It's quite tedious, such as cleaning the skin first, exfoliating, etc. Therefore, how to use a method that is more convenient, does not require the placement of three electrodes, or detects the muscle state of the skin first, is an important issue.
除了訊號取得之外，如前所述之復健設計也存在相當大的缺陷；因此，在被動式復健系統為主流之情況下，如何兼具高回饋準確度以及高互動性之復健方法，即是本發明所欲解決的問題。 In addition to the signal acquisition, the rehabilitation design mentioned above also has considerable defects; therefore, in the case of the passive rehabilitation system, how to combine the high feedback accuracy and the high interaction rehabilitation method, That is, the problem to be solved by the present invention.
本發明之主要目的，係提供一種利用肌動信號控制之復健系統，其係以肌動信號來評估病人是否有主動意願去做復健運動，藉著肌動信號在採值上係透過偵測肌肉的微顫動，因而只需要設置單一電極以及不需做皮膚清理之便利性與精準性，達到良好的偵測效果。 The main object of the present invention is to provide a rehabilitation system using muscle signal control, which uses an exercise signal to evaluate whether a patient has an active willingness to perform a rehabilitation exercise, and the body motion signal is used to detect the value of the body. The micro-fibrillation of the muscle is measured, so that only a single electrode and the convenience and precision of skin cleaning are not required, and a good detection effect is achieved.
本發明之次要目的，係提供一種利用肌動信號控制之復健系統，透過病人操控復健機器而了解病人所能施展之力量，進而主動提供一對應的力量值來調整復健進程。 A secondary object of the present invention is to provide a rehabilitation system that utilizes a motion signal control to understand the force that a patient can exert through the patient's manipulation of the rehabilitation machine, thereby actively providing a corresponding force value to adjust the rehabilitation process.
為了達到上述之目的，本發明係揭示一種利用肌動信號控制之復健系統，其係包含：一感測器，用以量測一肌動信號；及一控制器，係與該感測器相連接，其係包含一處理單元，用以處理該肌動信號為一對應力值，以及一驅動單元，用以輸出該對應力值。 In order to achieve the above object, the present invention discloses a rehabilitation system using a motion signal control, which includes: a sensor for measuring a motion signal; and a controller and the sensor Connected, comprising a processing unit for processing the motion signal as a pair of stress values, and a driving unit for outputting the pair of stress values.
10‧‧‧感測器 10‧‧‧ Sensors
20‧‧‧控制器 20‧‧‧ Controller
201‧‧‧處理單元 201‧‧‧Processing unit
202‧‧‧驅動單元 202‧‧‧ drive unit
30‧‧‧動力計 30‧‧‧Power Meter
301‧‧‧馬達 301‧‧‧Motor
302‧‧‧運動感測單元 302‧‧‧motion sensing unit
3021‧‧‧目標旋轉角度值 3021‧‧‧ Target rotation angle value
3022‧‧‧旋轉角度值 3022‧‧‧Rotation angle value
40‧‧‧顯示器 40‧‧‧ display
第一圖：其係為本發明之一較佳實施例之架構示意圖；及第二圖：其係為本發明之一較佳實施例之架構示意圖。 The first drawing is a schematic structural view of a preferred embodiment of the present invention; and the second drawing is a schematic structural view of a preferred embodiment of the present invention.
為使 貴審查委員對本發明之特徵及所達成之功效有更進一步之瞭解與認識，謹佐以較佳之實施例及配合詳細之說明，說明如後： In order to provide a better understanding and understanding of the features and the efficacies of the present invention, the preferred embodiment and the detailed description are as follows:
於先前技術之該些復健系統中，對肌肉活動狀態的偵測乃透過較多電極設置之肌電訊號系統，以及單向性、非主動式的復健療程，故本發明採用單一電極之肌動信號系統，以互動式復健療 程與復健病人的活動狀況做出即時性的調整，鼓勵其進一步為治療成功做出努力，是一種兼具精準性與效率之復健系統。 In the rehabilitation systems of the prior art, the detection of the state of muscle activity is through a multi-electrode-set electromyography system, and a unidirectional, inactive rejuvenation treatment, so the present invention uses a single electrode. Muscle signal system with interactive rehabilitation It is a kind of rehabilitation system that combines accuracy and efficiency by making immediate adjustments to the activities of the patients and rehabilitation patients and encouraging them to further their efforts for treatment success.
首先請參考第一圖，本發明之利用肌動信號控制之復健系統，其係包含一感測器10；一控制器20；一處理單元201；及一驅動單元202。 First, referring to the first figure, the rehabilitation system using the motion signal control of the present invention comprises a sensor 10; a controller 20; a processing unit 201; and a driving unit 202.
其中，該控制器20係與該感測器10相連接；該控制器包含該處理單元201及一驅動單元202。 The controller 20 is connected to the sensor 10; the controller includes the processing unit 201 and a driving unit 202.
而除了上述元件之外，本發明更進一步含一動力計30；一馬達301；一運動感測單元302；及一顯示器40。該動力計30與該控制器20相連接；且該動力計30包含該馬達301及該運動感測單元302；至於該顯示器40，則係與該控制器20相連接，用以顯示一復健資訊。 In addition to the above components, the present invention further includes a power meter 30; a motor 301; a motion sensing unit 302; and a display 40. The power meter 30 is connected to the controller 20; and the power meter 30 includes the motor 301 and the motion sensing unit 302; and the display 40 is connected to the controller 20 for displaying a rehabilitation News.
本發明之利用肌動信號控制之復健系統的運作方式，係於需要復健之病人的肢體上設置感測器10；感測器10是一種肌動信號感測器，透過其內部的加速規來量測肌肉的微動，撿拾肌肉的力量大小。使用肌動信號為測量依據的技術特徵在於只需要在病人肢體皮膚的表面設置一個電極即可獲得所需要的資訊，是一種新穎且便利的採值模式。除此之外，肌動信號感測器的單一電極較不受放置點位的影響，也不受皮膚表面狀態的電阻值影響，因此具有較高的準確度。 The operation of the rehabilitation system using the motion signal control of the present invention is to provide a sensor 10 on the limb of a patient in need of rehabilitation; the sensor 10 is an motion signal sensor through which internal acceleration is performed. It measures the micromotion of the muscles and picks up the strength of the muscles. The technical feature of using the motion signal as a measurement basis is that it is only necessary to provide an electrode on the surface of the patient's limb skin to obtain the required information, which is a novel and convenient acquisition mode. In addition, the single electrode of the motion signal sensor is less affected by the placement point and is not affected by the resistance value of the skin surface state, so it has higher accuracy.
自感測器10量測一肌動信號後，該肌動信號傳輸至感測器10所連結的控制器20。控制器20是用於計算資訊以及做出應對的關鍵處理元件，其包含的處理單元201具有計算功能，可以將獲得的肌動信號計算為一對應力值，也就是所偵測之肌肉其所產生的力矩值大小。 After the sensor 10 measures a muscle signal, the motion signal is transmitted to the controller 20 to which the sensor 10 is coupled. The controller 20 is a key processing component for calculating information and coping with the processing unit 201, and the processing unit 201 includes a calculation function, which can calculate the obtained muscle motion signal as a pair of stress values, that is, the detected muscles The amount of torque generated.
其中，此力矩值的運算方法係將所獲得的肌動信號取均方根(Root Mean Square,RMS)以及頻率上的變異數(Variance)為依據，本發明透過此計算出的力矩值大小，即可判斷是否要促使讓復健病人使出更大的力度進行復健，或是減輕他們的復健力度，是為一個調控復健進程的評斷標準。而透過處理單元201的計算與判斷，就會讓驅動單元202進一步去做輸出反應。 Wherein, the calculation method of the torque value is based on the obtained root motion signal (Root Mean Square, RMS) and the frequency variation (Variance), and the magnitude of the torque value calculated by the present invention is It can be judged whether to urge the rehabilitation patients to make greater efforts to rehabilitate, or to reduce their rehabilitation, is a criterion for judging the rehabilitation process. Through the calculation and judgment of the processing unit 201, the driving unit 202 is further subjected to an output reaction.
與控制器20相連接之動力計30是復健病人所操控之器具，復健病人可直接對該動力計30施加力量。動力計30所包含的馬達301可接收驅動單元202所給予的驅動指令而提供不同大小之動力輸出；而運動感測單元302，則可用以量測一旋轉角度值3022，其中，旋轉角度值3022為一肢體活動之角度。 The power meter 30 coupled to the controller 20 is an appliance operated by a rehabilitation patient, and the rehabilitation patient can directly apply force to the power meter 30. The motor 301 included in the power meter 30 can receive driving commands given by the driving unit 202 to provide different sizes of power output; and the motion sensing unit 302 can be used to measure a rotation angle value 3022, wherein the rotation angle value 3022 For the perspective of a physical activity.
在此以上肢手臂的復健運動為例，請參考第二圖，由於復健系統事先固定出手臂活動的範圍，此範圍可以目標旋轉角度值3021做表示；因此當復健病人在運動時，動力計30將會量測出病人手臂活動的角度，此角度便是旋轉角度值3022，而前述的感測器10會同時感測到復健病人肌肉施力的情況，此時透過感測器10與動力計30的感測結果，透過控制器20傳輸到顯示器40，顯示器40將會顯示出復健資訊，此復健資訊包含了該旋轉角度值3022及目標旋轉角度值3021，也就是實際上病人手臂活動範圍及預設的手臂活動範圍。 For example, in the rehabilitation exercise of the upper limbs, please refer to the second figure. Since the rehabilitation system fixes the range of the arm movement in advance, the range can be expressed by the target rotation angle value 3021; therefore, when the rehabilitation patient is exercising, The power meter 30 will measure the angle of the patient's arm movement, and the angle is the rotation angle value 3022, and the aforementioned sensor 10 will simultaneously sense the muscle force of the rehabilitation patient, and then pass through the sensor. The sensing result of the 10 and the power meter 30 is transmitted to the display 40 through the controller 20, and the display 40 will display the rehabilitation information, which includes the rotation angle value 3022 and the target rotation angle value 3021, that is, the actual The range of the patient's arm movement and the range of preset arm movements.
於復健過程中，由於病人應盡力去跟隨預設的活動，因此控制器20之處理單元201就會計算是否需要給予復健病人輔助的動力或阻力。而給予復建病人輔助的動力做阻力之機制在於：如果復健病人沒有主動地施力，則復健系統不會給與輔助動力；如果復健病人有主動地施力，但不能達到預設的活動，復健系統便會 給予輔助動力，從而完成預設的復健運動；而如果復健病人能夠輕易地達到預設的活動目標，此時復健系統便會給予阻力，從而訓練肌肉的力量。 During the rehabilitation process, since the patient should try to follow the preset activity, the processing unit 201 of the controller 20 calculates whether the power or resistance to be assisted by the rehabilitation patient needs to be given. The mechanism for giving resistance to the auxiliary patient's auxiliary power is that if the rehabilitation patient does not actively apply force, the rehabilitation system will not give auxiliary power; if the rehabilitation patient has active force, but cannot reach the preset Activity, the rehabilitation system will The auxiliary power is given to complete the preset rehabilitation exercise; and if the rehabilitation patient can easily reach the preset activity target, the rehabilitation system will give resistance and train the muscle strength.
而為了給予復健病人輔助的動力或阻力，本發明透過處理單元201作出評估判斷後，由驅動單元202對動力計30中的馬達301做出指令，進而產生讓復健病人所能感受到的動力或阻力，使復健的輔助效果可以達成。 In order to give the rehabilitation patient auxiliary power or resistance, the present invention makes an evaluation judgment by the processing unit 201, and then the driving unit 202 makes an instruction to the motor 301 in the power meter 30, thereby generating what the rehabilitation patient can feel. Power or resistance, so that the auxiliary effect of rehabilitation can be achieved.
為了使復健能夠有更好的效果，顯示器40所回饋呈現的復健資訊可以透過遊戲的互動方式，更進一步提高復健病人在復健過程中的參與感，可強化其對持續動力計30持續反覆出力的意願；透過此以提高互動性而鼓勵復健病人，本發明之利用肌動信號控制之復健系統可獲得相當良好的復健成果。 In order to make the rehabilitation better, the rehabilitation information presented by the display 40 can be enhanced through the interactive manner of the game, thereby further improving the participation of the rehabilitation patient in the rehabilitation process, and strengthening the continuous power meter 30 The willingness to continue to respond repeatedly; through this to enhance the interaction and encourage rehabilitation patients, the rehabilitation system using the muscle signal control of the present invention can obtain quite good rehabilitation results.
透過此利用肌動信號控制之復健系統，由於在感測上係選用肌動信號為依據，因此本身即具有良好的準確度，逼近復健病人所提供的真實出力值，進而配合其出力的大小去評估是否要對復健病人給予輔助動力或是阻力，使復健過程成為真正有意義的互動，可大幅提升復健的效率以及效果。 Through this rehabilitation system using the motion signal control, since the sensing is based on the muscle signal, it has good accuracy, and it approximates the actual output value provided by the rehabilitation patient, and then cooperates with the output. Size to assess whether to give auxiliary force or resistance to rehabilitation patients, so that the rehabilitation process becomes a truly meaningful interaction, which can greatly improve the efficiency and effectiveness of rehabilitation.
惟以上所述者，僅為本發明之較佳實施例而已，並非用來限定本發明實施之範圍，舉凡依本發明申請專利範圍所述之形狀、構造、特徵及精神所為之均等變化與修飾，均應包括於本發明之申請專利範圍內。 The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and the variations, modifications, and modifications of the shapes, structures, features, and spirits described in the claims of the present invention. All should be included in the scope of the patent application of the present invention.
本發明係實為一具有新穎性、進步性及可供產業利用者，應符合我國專利法所規定之專利申請要件無疑，爰依法提出發明專利申請，祈 鈞局早日賜准專利，至感為禱。 The invention is a novelty, progressive and available for industrial use, and should meet the requirements of the patent application stipulated in the Patent Law of China, and the invention patent application is filed according to law, and the prayer bureau will grant the patent as soon as possible. prayer.
10‧‧‧感測器 10‧‧‧ Sensors
20‧‧‧控制器 20‧‧‧ Controller
201‧‧‧處理單元 201‧‧‧Processing unit
202‧‧‧驅動單元 202‧‧‧ drive unit
30‧‧‧動力計 30‧‧‧Power Meter
301‧‧‧馬達 301‧‧‧Motor
302‧‧‧運動感測單元 302‧‧‧motion sensing unit
40‧‧‧顯示器 40‧‧‧ display
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