Method for evaluating rehabilitation condition of leg patient and walking aid robot

A walking aid robot, leg technology, applied in the direction of instruments, complex mathematical operations, computer parts, etc., can solve the problems of inconvenience, inconvenient monitoring of human movement, inaccurate analysis results, etc., to achieve the effect of improving accuracy

Active Publication Date: 2020-11-20
EZHOU INST OF IND TECH HUAZHONG UNIV OF SCI & TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The manual evaluation method is that the medical staff analyze and score the walking process or walking video of the ward according to the rehabilitation rating scale. Therefore, the manual evaluation method is subjective, and the analysis results are easy to be inaccurate due to short-term behavior observation. Therefore, manual evaluation methods cannot meet the needs of real-time monitoring and analysis in elderly care and chronic disease care.
[0004] Existing sensor-based device evaluation uses typical gait analysis sensor devices such as 3D visual capture system, Kinect, force measuring platform, and inertial measurement unit, which can provide high-precision measurement results. However, the inertial measurement unit requires the user to wear a large number of Inertial measurement units cause inconvenience and discomfort to the daily activities of individuals, and other devices are inconvenient in monitoring human body movements in daily activities of individuals and the environment

Method used

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  • Method for evaluating rehabilitation condition of leg patient and walking aid robot
  • Method for evaluating rehabilitation condition of leg patient and walking aid robot
  • Method for evaluating rehabilitation condition of leg patient and walking aid robot

Examples

Experimental program
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Effect test

Embodiment 1

[0061] A method for evaluating the rehabilitation status of a leg patient provided by the present invention is applied to a walking-assisting robot. The walking-assisting robot is provided with a first laser sensor and a second laser sensor, and the first laser sensor is located on the second Above the laser sensor, the first laser sensor scans the upper part of the human body, and the second laser sensor scans the lower part of the human body. The walking aid robot also includes a microcomputer controller, a 24V rechargeable battery, and an omnidirectional mobile chassis. The data acquired by the first laser sensor and the second laser sensor are analyzed and processed, and based on the processing results, the omnidirectional mobile chassis is controlled to move.

[0062] Such as figure 1 shown, including:

[0063] S101. Use the first laser sensor and the second laser sensor to scan the marking points of the left leg and the right leg of the leg patient, and obtain the coord...

Embodiment 2

[0156] Based on the same inventive concept, the present invention provides a device for evaluating the rehabilitation status of a leg patient, which is applied to a walking-assisting robot, and the walking-assisting robot is provided with a first laser sensor and a second laser sensor, so The first laser sensor is located above the second laser sensor, such as Figure 5 shown, including:

[0157] The scanning module 501 is configured to use the first laser sensor and the second laser sensor to scan the marking points of the left leg and the right leg of the leg patient, and obtain the coordinates of each marking point;

[0158] Establishing a sagittal plane module 502, configured to establish a sagittal plane for walking of the leg patient based on the coordinates of a plurality of marker points;

[0159] The gait data obtaining module 503 is used to obtain the gait data of the leg patient based on the sagittal plane and the direction vector, the gait data includes: step leng...

Embodiment 3

[0197] Based on the same inventive concept, the third embodiment of the present invention also provides a walker robot, such as Figure 6As shown, it includes a memory 604, a processor 602, and a computer program stored on the memory 604 and operable on the processor 602. When the processor 602 executes the program, the above-mentioned evaluation of the rehabilitation status of the leg patient is realized. The steps of any of the methods.

[0198] Among them, in Figure 6 In, bus architecture (represented by bus 600), bus 600 may include any number of interconnected buses and bridges, bus 600 will include one or more processors represented by processor 602 and various types of memory represented by memory 604 circuits linked together. The bus 600 may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, etc., which are well known in the art and thus will not be further described herein. The bus interface 606 provi...

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Abstract

The invention relates to the technical field of mobile walking aid equipment, in particular to a method for evaluating the rehabilitation condition of a leg patient and a walking aid robot. The methodcomprises the steps: employing a first laser sensor and a second laser sensor to scan mark points of a left leg and a right leg of the leg patient, and obtaining the coordinates of each mark point; based on the coordinates of the plurality of mark points, establishing a sagittal plane of walking of the leg patient; based on the sagittal plane, gait data of the leg patient are obtained, and the gait data comprise the step length, the step length, the step width, the single-step time, the step speed, the step frequency, the walking symmetry, the adjacent step length ratio, the proportion of thedouble-leg swing phase and the proportion of the supporting phase; based on the coordinates of the multiple marking points, the human body movement intention of the leg patient is obtained; the gaitdata and the human body movement intention of the leg patient are subjected to weighted evaluation, the evaluation result of the rehabilitation condition of the leg patient is obtained, and then the evaluation accuracy is improved.

Description

technical field [0001] The invention relates to the technical field of mobile walking aid equipment, in particular to a method for evaluating the rehabilitation status of leg patients and a walking aid robot. Background technique [0002] When evaluating the motor function of the elderly or patients with gait disorders, manual evaluation methods or sensor-based device evaluations can be used. [0003] The manual evaluation method is that the medical staff analyze and score the walking process or walking video of the ward according to the rehabilitation evaluation scale. Therefore, the manual evaluation method is subjective, and the analysis results are easy to be inaccurate due to the observation of short-term behavior. Therefore, manual evaluation methods cannot meet the needs of real-time monitoring and analysis in elderly care and chronic disease care. [0004] Existing sensor-based device evaluation uses typical gait analysis sensor devices such as 3D visual capture sys...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G06F17/18
CPCG06F17/18G06V40/25G06F18/2135G06F18/2411
Inventor 黄剑晏箐阳杨博
Owner EZHOU INST OF IND TECH HUAZHONG UNIV OF SCI & TECH
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