Rehabilitation training system and rehabilitation training equipment

Abstract

The present application discloses a rehabilitation training system and rehabilitation training equipment, which relate to the field of rehabilitation training technology. It includes: a mechanical arm equipped with a voltage sensor, the voltage sensor is connected to a host computer; in the current rehabilitation training process, the host computer is used to obtain the voltage value of the voltage sensor; the angle value of the mechanical arm rotation is obtained according to the voltage value of the voltage sensor; the result of the current rehabilitation training is determined according to the angle value of the mechanical arm rotation. In the rehabilitation training system provided by the present application, the voltage value of the voltage sensor is converted into the angle value of the patient in the rehabilitation training by the host computer, so that the data in the training process is automatically entered into the host computer, and the efficiency of obtaining the data in the training process is improved; in addition, in the process of obtaining the data in the training process, the interference of human factors is reduced, and the accuracy of the data obtained in the rehabilitation training process is improved.

Description

Technical Field

[0001] The present application relates to the technical field of rehabilitation training, and in particular to a rehabilitation training system and rehabilitation training equipment. Background Art

[0002] For rehabilitation training, we use robotic arms, angle sensors and other equipment to evaluate the angle range of the patient's upper limb activities, and formulate corresponding training plans, training content and training difficulty based on the evaluation range. Similarly, during the patient's training, the movement angle and spatial coordinate range are recorded by robotic arms, angle sensors and other equipment to record the patient's training and rehabilitation process data, so that doctors can make scientific and accurate judgments and treatments for their rehabilitation diagnosis.

[0003] Existing rehabilitation assessment training also uses some computer technology. The doctor asks the patient questions one by one according to the form, and manually enters each assessment value and training value into the computer. Finally, the computer calculates the recorded training data based on the assessment record and gives a reference diagnosis. This method has a low degree of automation; in addition, the manual entry of data during the assessment and training process has uncertain error factors such as human errors, which ultimately leads to low accuracy of the data during the assessment and training process, and cannot reflect the patient's training recovery results over a period of time.

[0004] It can be seen that how to improve the accuracy of data obtained during rehabilitation training is a technical problem that people in this field need to solve urgently. Summary of the invention

[0005] The purpose of the present application is to provide a rehabilitation training system and rehabilitation training equipment for improving the accuracy of data acquired during the rehabilitation training process.

[0006] In order to solve the above technical problems, the present application provides a rehabilitation training system, comprising: a mechanical arm equipped with a voltage sensor, wherein the voltage sensor is connected to a host computer;

[0007] During the current rehabilitation training process, the host computer is used to obtain the voltage value of the voltage sensor; obtain the angle value of the rotation of the robotic arm according to the voltage value of the voltage sensor; and determine the result of the current rehabilitation training according to the angle value of the rotation of the robotic arm.

[0008] Preferably, in the case where the current rehabilitation training is single-arm rehabilitation training, the host computer is used to obtain voltage values ​​of a voltage sensor located at a shoulder joint and a voltage sensor located at an elbow joint; and obtain the angle value of the robotic arm in the first motion state according to the voltage value of the voltage sensor located at the shoulder joint and / or the voltage value of the voltage sensor located at the elbow joint;

[0009] The host computer is used to obtain the voltage value of the voltage sensor located at the wrist joint; and obtain the angle value of the robotic arm in the second motion state according to the voltage value of the voltage sensor at the elbow joint.

[0010] Preferably, the host computer is used to obtain the angle value of the mechanical arm in the first motion state according to the voltage value of the voltage sensor located at the shoulder joint and / or the voltage value of the voltage sensor located at the elbow joint, including:

[0011] The mechanical arm connected to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint obtains voltage values ​​corresponding to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint when the mechanical arm is at multiple first preset angles;

[0012] Establishing a first corresponding relationship between each of the first preset angles and a voltage value corresponding to each of the first preset angles;

[0013] Inputting a first current voltage value of the voltage sensor located at the shoulder joint and / or a second current voltage value of the voltage sensor located at the elbow joint into the first corresponding relationship;

[0014] Determine, according to the first corresponding relationship, the current angle value of the robotic arm in the first motion state when the voltage sensor located at the shoulder joint outputs the first current voltage value and / or the voltage sensor located at the elbow joint outputs the second current voltage value;

[0015] Similarly, the host computer is used to obtain the angle value of the mechanical arm in the second motion state according to the voltage value of the voltage sensor of the wrist joint, including:

[0016] When the mechanical arm connected to the voltage sensor at the wrist joint is at a plurality of second preset angles, obtaining voltage values ​​corresponding to the voltage sensor at the wrist joint;

[0017] Establishing a second corresponding relationship between each of the second preset angles and a voltage value corresponding to each of the second preset angles;

[0018] Inputting the current voltage value of the voltage sensor located at the wrist joint into the second corresponding relationship;

[0019] The current angle value of the robotic arm in the second motion state when the voltage sensor located at the wrist joint outputs the current voltage value is determined according to the second corresponding relationship.

[0020] Preferably, the host computer is used for, after the first corresponding relationship between each of the first preset angles and the voltage values ​​corresponding to each of the first preset angles is established, and before the first current voltage value of the voltage sensor at the shoulder joint and / or the second current voltage value of the voltage sensor at the elbow joint is input into the first corresponding relationship, further comprising:

[0021] Acquire a first measured angle value of the robotic arm connected to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint and a first actual voltage value of the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint measured by a protractor;

[0022] Inputting the first measured angle value and the first actual voltage value into the first corresponding relationship;

[0023] In the case where the relationship between the first measured angle value and the first actual voltage value satisfies the first corresponding relationship, entering the step of inputting the first current voltage value of the voltage sensor located at the shoulder joint and / or the second current voltage value of the voltage sensor located at the elbow joint into the first corresponding relationship;

[0024] Similarly, the host computer is used for, after the second corresponding relationship between each second preset angle and the voltage value corresponding to each second preset angle is established, and before the current voltage value of the voltage sensor located at the wrist joint is input into the second corresponding relationship, further comprising:

[0025] Acquire a second measured angle value of the mechanical arm connected to the voltage sensor at the wrist joint and a second actual voltage value of the voltage sensor at the wrist joint measured by the protractor;

[0026] Inputting the second measured angle value and the second actual voltage value into the second corresponding relationship;

[0027] When the relationship between the second measured angle value and the second actual voltage value satisfies the second corresponding relationship, the step of inputting the current voltage value of the voltage sensor located at the wrist joint into the second corresponding relationship is entered.

[0028] Preferably, the host computer is used to obtain the angle value of the rotation of the mechanical arm according to the voltage value of the voltage sensor, including:

[0029] The host computer is used to obtain the voltage value corresponding to the voltage sensor at each moment within a preset time;

[0030] Obtaining all angle values ​​of the rotation of the robotic arm corresponding to the output of each voltage value through a corresponding relationship; wherein the corresponding relationship includes the first corresponding relationship and the second corresponding relationship;

[0031] A weighted average is performed on all the angle values ​​to determine the angle value of the rotation of the robot arm.

[0032] Preferably, the host computer is used to obtain the angle value of the rotation of the robotic arm according to the voltage value of the voltage sensor, and is also used to convert the angle value into plane coordinates and / or three-dimensional coordinates through a spatial coordinate conversion algorithm; and establish a rehabilitation training scene according to the plane coordinates and / or the three-dimensional coordinates.

[0033] Preferably, the host computer is used to obtain the voltage value of the grip force sensor after converting the angle value into plane coordinates and / or three-dimensional coordinates; and convert the voltage value of the grip force sensor into a grip force value.

[0034] Preferably, the host computer is also used to display the result of the current rehabilitation training on a display and store the result of the current rehabilitation training.

[0035] Preferably, the voltage sensor is connected to the host computer wirelessly.

[0036] In order to solve the above technical problems, the present application also provides a rehabilitation training device, including the above rehabilitation training system.

[0037] A rehabilitation training system provided by the present application includes: a mechanical arm equipped with a voltage sensor, the voltage sensor is connected to a host computer; during the current rehabilitation training process, the host computer is used to obtain the voltage value of the voltage sensor; according to the voltage value of the voltage sensor, the angle value of the mechanical arm rotation is obtained; according to the angle value of the mechanical arm rotation, the result of the current rehabilitation training is determined. Compared with the previous method in which the doctor asks the patient questions to obtain the data in the training process and manually enters the data in the training process during the rehabilitation training process, in the rehabilitation training system provided by the present application, the voltage value of the voltage sensor is converted into the angle value of the patient in the rehabilitation training through the host computer, so that the data in the training process is automatically entered into the host computer, and the efficiency of obtaining the data in the training process is improved; in addition, in the process of obtaining the data in the training process, the interference of human factors is reduced, and the accuracy of the data obtained in the rehabilitation training process is improved.

[0038] In addition, the present application also provides a rehabilitation training device, which has the same or corresponding technical features as the above-mentioned rehabilitation training system and has the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of a rehabilitation training system is provided for an embodiment of the present application;

[0041] Figure 2 A flowchart of an upper limb feedback rehabilitation training system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] The core of this application is to provide a rehabilitation training system and rehabilitation training equipment to improve the accuracy of data obtained during the rehabilitation training process.

[0044] During the rehabilitation training process, it is necessary to evaluate the angle range of the patient's limb activities, and formulate corresponding training plans, training content, and training difficulty based on the evaluation range. At present, during the rehabilitation training process, in order to evaluate the patient's rehabilitation training results, the doctor obtains the data during the patient's training process by asking questions and enters them into the computer. In this process, the degree of automation and accuracy is not high. Therefore, the application connects the voltage sensor installed on the manipulator to the host computer, and converts the voltage value of the voltage sensor into the rotation angle value of the manipulator connected to the voltage sensor in the host computer, so as to realize automatic acquisition of the data during the patient's rehabilitation training process and evaluation of the patient's rehabilitation training according to the data obtained during the rehabilitation training process.

[0045] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with specific implementation methods. Figure 1 A schematic diagram of a rehabilitation training system is provided for an embodiment of the present application, such as Figure 1 As shown, the system comprises: a mechanical arm 1 equipped with a voltage sensor, the voltage sensor 2 is connected to a host computer 3;

[0046] During the current rehabilitation training process, the host computer 3 is used to obtain the voltage value of the voltage sensor 2; obtain the rotation angle value of the robot arm 1 according to the voltage value of the voltage sensor 2; and determine the result of the current rehabilitation training according to the rotation angle value of the robot arm 1.

[0047] The rehabilitation training process can be rehabilitation training for the upper limbs or lower limbs. A voltage sensor is installed on the robotic arm, and the movement of the robotic arm drives the movement of the voltage sensor. There is no limit on the number of sensors installed on the robotic arm, which is determined according to actual conditions. For example, in the process of single-limb rehabilitation training of the upper limb, preferably, 6 groups of voltage sensors are selected, namely, a voltage sensor located on the shoulder that can rotate horizontally, a voltage sensor located on the forearm that rotates up and down, a voltage sensor located on the forearm that rotates horizontally, a voltage sensor located on the wrist that can rotate clockwise and counterclockwise, and a voltage sensor for distinguishing between the left and right hands.

[0048] The host computer is connected to the voltage sensor, and specifically can be wirelessly connected to the host computer, so as to obtain the voltage value of the voltage sensor. When the voltage value is obtained, there is a corresponding angle value of the mechanical arm. Therefore, in the implementation, the corresponding relationship between the voltage value and the angle value can be analyzed, so that when the voltage value of the voltage sensor is obtained, the rotation angle of the mechanical arm connected to the voltage sensor when the voltage sensor outputs the voltage value can be determined according to the corresponding relationship. When determining the angle of rotation of the mechanical arm, any object can be selected as a reference. For example, during the process of upper limb rehabilitation training, the patient sits on a chair with a mechanical arm, the upper limb is fixed on the mechanical arm, and the movement of the mechanical arm drives the movement of the upper limb. When determining the angle of rotation of the mechanical arm, the position perpendicular to the back of the chair can be used as a reference point. The angle value of the mechanical arm rotation can be used as one of the evaluation parameters of the patient's rehabilitation training, and then the result of the patient's current rehabilitation training is determined according to the angle value of the mechanical arm rotation. The host computer is also used to display the results of the current rehabilitation training on the display and store the results of the current rehabilitation training, so as to facilitate viewing the data in the training process.

[0049] A rehabilitation training system provided by this embodiment includes: a mechanical arm equipped with a voltage sensor, the voltage sensor is connected to a host computer; during the current rehabilitation training process, the host computer is used to obtain the voltage value of the voltage sensor; according to the voltage value of the voltage sensor, the angle value of the mechanical arm rotation is obtained; according to the angle value of the mechanical arm rotation, the result of the current rehabilitation training is determined. Compared with the previous method in which the doctor asks the patient questions to obtain the data in the training process and manually enters the data in the training process, in the rehabilitation training system provided by this embodiment, the voltage value of the voltage sensor is converted into the angle value of the patient in the rehabilitation training by the host computer, so that the data in the training process is automatically entered into the host computer, and the efficiency of obtaining the data in the training process is improved; in addition, in the process of obtaining the data in the training process, the interference of human factors is reduced, and the accuracy of the data obtained in the rehabilitation training process is improved.

[0050] In practice, in order to more accurately obtain the data during the training process, the preferred implementation method is that when the current rehabilitation training is single-arm rehabilitation training, the host computer is used to obtain the voltage values ​​of the voltage sensor located at the shoulder joint and the voltage sensor located at the elbow joint; the angle value of the robotic arm in the first motion state is obtained according to the voltage value of the voltage sensor located at the shoulder joint and / or the voltage value of the voltage sensor located at the elbow joint;

[0051] The host computer is used to obtain the voltage value of the voltage sensor located at the wrist joint; and obtain the angle value of the robot arm in the second motion state according to the voltage value of the voltage sensor at the elbow joint.

[0052] Since the movement of the shoulder joint and the elbow joint is horizontal rotation, the first movement state here refers to the horizontal rotation state; the movement of the wrist joint is rotational movement, so the second movement state here corresponds to the rotational movement state.

[0053] In the process of upper limb rehabilitation training provided in this embodiment, the voltage sensors located at the shoulder joint, elbow joint and wrist joint enable the upper limb rehabilitation training to be evaluated more accurately.

[0054] The rehabilitation training equipment in the upper limb feedback rehabilitation training system includes multiple sensors. These sensors can emit different voltage values ​​as the robotic arm rotates, and different voltage values ​​reflect different angle values. The angle of rotation can be infinite, and the rotation methods are divided into horizontal rotation and fixed-axis rotation. In order to intuitively reflect the movable level (angle) of each joint of the patient's upper limb, it is necessary to convert the voltage value output by each sensor in real time into an angle value. Therefore, it is necessary to analyze the conversion method and periodic law between the voltage value and the angle value. Therefore, in implementation, the upper computer is used to obtain the angle value of the robotic arm in the first motion state according to the voltage value of the voltage sensor located at the shoulder joint and / or the voltage value of the voltage sensor located at the elbow joint, including:

[0055] When the robotic arm connected to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint is at a plurality of first preset angles, obtaining voltage values ​​corresponding to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint;

[0056] Establishing a first corresponding relationship between each first preset angle and a voltage value corresponding to each first preset angle;

[0057] Inputting a first current voltage value of a voltage sensor located at a shoulder joint and / or a second current voltage value of a voltage sensor located at an elbow joint into a first corresponding relationship;

[0058] The current angle value of the robotic arm in the first motion state when the first current voltage value output by the voltage sensor located at the shoulder joint and / or the second current voltage value output by the voltage sensor located at the elbow joint is determined according to the first corresponding relationship.

[0059] The host computer is used to, after establishing a first corresponding relationship between each first preset angle and the voltage value corresponding to each first preset angle, before inputting the first current voltage value of the voltage sensor at the shoulder joint and / or the second current voltage value of the voltage sensor at the elbow joint into the first corresponding relationship, further comprising:

[0060] Acquire a first measured angle value of the robotic arm connected to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint and a first actual voltage value of the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint measured by a protractor;

[0061] Inputting the first measured angle value and the first actual voltage value into a first corresponding relationship;

[0062] When the relationship between the first measured angle value and the first actual voltage value satisfies the first corresponding relationship, the step of inputting the first current voltage value of the voltage sensor located at the shoulder joint and / or the second current voltage value of the voltage sensor located at the elbow joint into the first corresponding relationship is entered.

[0063] The above process of obtaining the first corresponding relationship can be called a horizontal rotation angle conversion process. There is no limitation on the selected first preset angle, for example, special periodic angle values ​​such as 0°, 90°, 180°, 270°, and 360° can be selected.

[0064] Select the fixed angles of the shoulder joint activity sensor and the elbow joint activity sensor, such as the special periodic angle values ​​of 0°, 90°, 180°, 270°, 360°, etc., and extract the output voltage value of the voltage sensor at these angle values. It can be concluded from the experimental data that the sensor voltage value changes periodically with the rotation angle from 0° to 180°. That is, when the rotation angle of the robot arm changes from 0° to 180°, the voltage value of the sensor will also change periodically from -nV to +nV. Moreover, it can be further concluded through calculation that the voltage value changes linearly with the change of the rotation angle. From this, the change formula between the voltage value and the angle value is derived, that is, the first corresponding relationship is obtained.

[0065] To verify the correctness of the first correspondence, the robot arm was rotated from 180° to 360°, and each special angle value was verified. The change pattern of the voltage value and the angle value also conformed to the first correspondence. To verify the universality of the change formula, multiple groups of angle values ​​were randomly selected with the help of a protractor and substituted into the first correspondence. It was also verified that the change pattern of the voltage value and the angle value also conformed to the first correspondence.

[0066] The first correspondence is applied to the mechanical arm rotations such as shoulder lifting, shoulder adduction, shoulder abduction, and axis flexion of the upper limb feedback rehabilitation training equipment to verify that the horizontal rotation angle conversion conforms to the first correspondence between the voltage value and the angle value.

[0067] Similarly, the host computer is used to obtain the angle value of the robot arm in the second motion state according to the voltage value of the voltage sensor of the wrist joint, including:

[0068] When the mechanical arm connected to the voltage sensor at the wrist joint is at a plurality of second preset angles, obtaining a voltage value corresponding to the voltage sensor at the wrist joint;

[0069] Establishing a second corresponding relationship between each second preset angle and a voltage value corresponding to each second preset angle;

[0070] Inputting the current voltage value of the voltage sensor located at the wrist joint into the second corresponding relationship;

[0071] The current angle value of the robotic arm in the second motion state when the voltage sensor located at the wrist joint outputs the current voltage value is determined according to the second corresponding relationship.

[0072] The host computer is used to, after establishing the second corresponding relationship between each second preset angle and the voltage value corresponding to each second preset angle, before inputting the current voltage value of the voltage sensor located at the wrist joint into the second corresponding relationship, further comprising:

[0073] Obtaining a second measured angle value of the robotic arm connected to the voltage sensor at the wrist joint and a second actual voltage value of the voltage sensor at the wrist joint measured by a protractor;

[0074] Inputting the second measured angle value and the second actual voltage value into a second corresponding relationship;

[0075] When the relationship between the second measured angle value and the second actual voltage value satisfies the second corresponding relationship, the step of inputting the current voltage value of the voltage sensor located at the wrist joint into the second corresponding relationship is entered.

[0076] The above second corresponding relationship can be called the conversion process of the shaft rotation angle. There is no limitation on the selected second preset angle, for example, a special periodic angle value such as -90°, 90°, etc. can be selected.

[0077] The activity assessment and training of the wrist joint is achieved by the axis rotation of the sensor driven by the robot arm. When the axis rotates, the voltage value changes linearly with the change of the rotation angle. From this, the change formula between the voltage value and the angle value is derived, that is, the second corresponding relationship is obtained.

[0078] The starting position angle value is set to 0°, 90° rotation to the left is defined as -90°, and 90° rotation to the right is defined as +90°. The comprehensive rotation angle is identified as within the 180° interval, and the voltage value of each special angle in the rotation interval is obtained accordingly. Similarly, it is verified that the change in the rotation angle and the change in the voltage value conform to the second corresponding relationship. In practice, it is found that the first corresponding relationship is the same as the second corresponding relationship, that is, there is a linear relationship between the voltage value and the angle value.

[0079] In order to verify the universality of the second corresponding relationship, multiple groups of angle values ​​were randomly selected with the help of a protractor and substituted into the second corresponding relationship. It was also verified that the changing rules of voltage values ​​and angle values ​​also conform to the second corresponding relationship.

[0080] The second corresponding relationship is applied to the wrist rotation and other mechanical arm rotations of the upper limb feedback rehabilitation training equipment to verify that the axis rotation angle conversion conforms to the second corresponding relationship between the voltage value and the angle value.

[0081] In the method provided in this embodiment, a correspondence is established by using a special angle and a voltage value corresponding to the special angle, and then the correspondence is verified by using a random angle and a voltage value corresponding to the random angle, so that the correspondence between the determined voltage value and the angle value is more accurate.

[0082] In the implementation, there may be uncertain error factors such as human error and data mutation, which may reduce the accuracy of the data obtained in the training process. Therefore, in order to improve the accuracy of the data obtained in the training process, a preferred implementation is that the host computer is used to obtain the angle value of the mechanical arm rotation according to the voltage value of the voltage sensor, including:

[0083] The host computer is used to obtain the voltage value corresponding to the voltage sensor at each moment within the preset time;

[0084] Obtain all angle values ​​of the robot arm rotation corresponding to each voltage value output through the corresponding relationship; wherein the corresponding relationship includes a first corresponding relationship and a second corresponding relationship;

[0085] All angle values ​​are weighted averaged to determine the angle value of the robot arm rotation.

[0086] In the process of obtaining the first corresponding relationship and the second corresponding relationship, it is found that since the voltage change interval is affected by the structural characteristics of the sensor and the voltage range, the change accuracy of the voltage value is high, which will be reflected in the angle change. There will be a large mutation, which is not conducive to the stable and smooth output of the angle value. Therefore, in this embodiment, the voltage value corresponding to the voltage sensor at each moment within the preset time and the angle value corresponding to each voltage value are obtained, and all the angle values ​​are averaged to obtain a stable changing angle value.

[0087] The correspondence between the voltage value and the angle value described above is implemented in a specific conversion algorithm in the upper computer software. This algorithm converts the correspondence into a conversion algorithm by receiving the voltage value sent by the sensor. The algorithm includes a fixed correspondence for processing data, and the calculation parameters reflect the attribute parameters of the sensor voltage change range and the rotation angle. The combination of the algorithm and the parameters, the input voltage value, and the calculated angle value. The angle value is sorted, and after average correction, a linear and stable angle value is finally output.

[0088] In the method provided in this embodiment, a stable angle value is obtained by using a weighted average algorithm, which can avoid as much as possible the situation where the accuracy of the obtained angle value is reduced when there is a sudden change in the voltage value.

[0089] After obtaining the rotation angle of the robotic arm, in order to facilitate the formulation of corresponding training plans, training content, and training difficulty based on the evaluation parameters, a preferred implementation method is that the host computer is used to obtain the angle value of the robotic arm rotation based on the voltage value of the voltage sensor, and is also used to convert the angle value into plane coordinates and / or three-dimensional coordinates through a spatial coordinate conversion algorithm; and establish a rehabilitation training scene based on the plane coordinates and / or three-dimensional coordinates.

[0090] The host computer is used to convert the angle value into plane coordinates and / or three-dimensional coordinates, and then to obtain the voltage value of the grip force sensor; and convert the voltage value of the grip force sensor into a grip force value.

[0091] The training system consists of multiple scene games. After entering the game, the patient drives the robotic arm and sensor through upper limb movements. The input voltage value is converted into an angle value through the corresponding relationship, and a fixed number of angle values ​​are averaged. The obtained angle value is converted into the spatial coordinate value used in the training game through a coordinate conversion algorithm, and reflected in the training game scene, so that the patient can intuitively perform various training in the game training.

[0092] In the method provided in this embodiment, the patient's assessed activity limit values ​​are automatically applied to rehabilitation training through plane, 3D and other training scenarios. Through the angle conversion algorithm, accurate spatial activity coordinate parameters can be obtained, and the movement trajectory and key values ​​of each major activity during the patient's rehabilitation training process can be recorded to form a sports rehabilitation activity assessment report, which can further guide future rehabilitation training courses.

[0093] A rehabilitation training system is described above, and this embodiment further provides a rehabilitation training device, including the above-mentioned rehabilitation training system. The rehabilitation training device provided in this embodiment has the same or corresponding technical features as the rehabilitation training method described above, and the embodiment of the rehabilitation training system has been described in detail above, so the specific embodiment of the rehabilitation training device is not repeated here, and has the same beneficial effects as the above-mentioned rehabilitation training system.

[0094] In order to make the technical personnel in this field better understand the present application scheme, the following is combined with the attached Figure 2 The present application is further described in detail with specific implementation methods. Taking upper limb rehabilitation training as an example, the upper limb feedback rehabilitation training system includes: an upper limb feedback rehabilitation training instrument, a host computer software, a host, a display, and a network communication device. The rehabilitation feedback training angle conversion algorithm is included in the host computer software. The network communication device transmits the sensor physical data (voltage value) on the upper limb feedback rehabilitation training instrument to the host.

[0095] After receiving the voltage value, the host computer software on the host converts it into a rotation angle value through the feedback rehabilitation training angle conversion algorithm. Its main function is to receive the voltage value data of each sensor of the upper limb feedback rehabilitation training equipment, and convert it into the rotation angle of the robotic arm connected to the sensor through this algorithm.

[0096] The upper limb feedback rehabilitation training system host computer software includes an evaluation system and a training system. The evaluation system will evaluate and record the range of motion angles and grip strength levels of each joint of the patient's upper limbs. The evaluation data will be used as parameters for the coordinate conversion algorithm of the training system. Based on the evaluation data, the patient's actual motor ability will be applied to the training system.

[0097] The training system consists of multiple scene games. After entering the game, the patient drives the robotic arm and sensor through upper limb movements. The input voltage value is converted into an angle value through a conversion algorithm, and a fixed number of angle values ​​are averaged. The obtained angle value is converted into the spatial coordinate value used in the training game through a coordinate conversion algorithm, and reflected in the training game scene. This allows patients to intuitively perform various training in the game training.

[0098] In the above-mentioned upper limb feedback rehabilitation training system, the robot arm drives the sensor to rotate and obtains the real-time voltage value of the sensor; the network communication receives the voltage value message data, and obtains the actual voltage value through protocol analysis. Through the angle conversion algorithm, algorithm formula, calculation attribute parameters, etc., the original voltage value is input, the average voltage value is filtered, and the angle value is output; through the spatial coordinate conversion algorithm, the X, Y, and Z axis angles are input, and the plane coordinates and 3D coordinate values ​​are output; the coordinate value and the voltage value of the grip force sensor are converted into grip force values, which are applied to the training scene to complete the conversion from voltage value to angle displacement value, serving the upper limb feedback rehabilitation training.

[0099] Figure 2 The following is a flowchart of an upper limb feedback rehabilitation training system provided in an embodiment of the present application. Figure 2 As shown, the method includes:

[0100] S10: Control the operation of the sensors on the robotic arm of the upper limb feedback rehabilitation training system;

[0101] S11: Get the real-time voltage value of the sensor;

[0102] S12: Obtain a conversion algorithm for converting voltage values ​​into angle values;

[0103] S13: Output the rotation angle value of the robot arm;

[0104] S14: Obtaining a stable changing angle value of the robot arm rotation through a weighted average algorithm;

[0105] S15: Obtain smooth and stable horizontal rotation angle values ​​and vertical rotation angle values; proceed to step S16 or step S17;

[0106] S16: Obtain upper limb feedback rehabilitation assessment plane motion data;

[0107] S17: Convert the motion data into two-dimensional or three-dimensional training scene coordinate data for use in rehabilitation training.

[0108] In the workflow of the upper limb feedback rehabilitation training system provided in this embodiment, the angle conversion algorithm of active rehabilitation training is used to first accurately calculate the patient's current activity limit through evaluation. Then, through plane, 3D and other training scenarios, the patient's assessed activity limit is automatically applied to rehabilitation training. Through the angle conversion algorithm, accurate spatial activity coordinate parameters can be obtained, and the movement trajectory and key values ​​of each major activity during the patient's rehabilitation training can be recorded. With the help of computer graphics processing algorithms, the movement trajectory of the evaluation process and the training process can be displayed intuitively, stably, in real time, and realistically, forming a sports rehabilitation activity evaluation report, and further guiding future rehabilitation training courses. Compared with a mechanical arm using a flexible steel cable, the technical solution of using the telescopic displacement or angle value of the flexible steel cable to reflect the movement angle of the mechanical arm and the active joint has high flexibility and accurate data accuracy, and the evaluation and rehabilitation training are not affected by the physical properties of the hardware.

[0109] The above is a detailed introduction to a rehabilitation training system and rehabilitation training equipment provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0110] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A rehabilitation training system, characterized in that: include: A mechanical arm equipped with a voltage sensor, wherein the voltage sensor is connected to a host computer; During the current rehabilitation training process, the host computer is used to obtain the voltage value of the voltage sensor; Obtaining the angle value of the rotation of the robotic arm according to the voltage value of the voltage sensor; Determine the result of the current rehabilitation training according to the angle value of the rotation of the mechanical arm; In the case where the current rehabilitation training is single-arm rehabilitation training, the host computer is used to obtain voltage values ​​of a voltage sensor located at a shoulder joint and a voltage sensor located at an elbow joint; Obtaining an angle value of the robotic arm in a first motion state according to a voltage value of the voltage sensor located at the shoulder joint and / or a voltage value of the voltage sensor located at the elbow joint; The host computer is used to obtain the voltage value of the voltage sensor located at the wrist joint; Acquire the angle value of the robotic arm in the second motion state according to the voltage value of the voltage sensor of the elbow joint; The host computer is used to obtain the angle value of the mechanical arm in the first motion state according to the voltage value of the voltage sensor located at the shoulder joint and / or the voltage value of the voltage sensor located at the elbow joint, including: The mechanical arm connected to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint obtains voltage values ​​corresponding to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint when the mechanical arm is at multiple first preset angles; Establishing a first corresponding relationship between each of the first preset angles and a voltage value corresponding to each of the first preset angles; Inputting a first current voltage value of the voltage sensor located at the shoulder joint and / or a second current voltage value of the voltage sensor located at the elbow joint into the first corresponding relationship; Determine, according to the first corresponding relationship, the current angle value of the robotic arm in the first motion state when the voltage sensor located at the shoulder joint outputs the first current voltage value and / or the voltage sensor located at the elbow joint outputs the second current voltage value; Similarly, the host computer is used to obtain the angle value of the mechanical arm in the second motion state according to the voltage value of the voltage sensor of the wrist joint, including: When the mechanical arm connected to the voltage sensor at the wrist joint is at a plurality of second preset angles, obtaining voltage values ​​corresponding to the voltage sensor at the wrist joint; Establishing a second corresponding relationship between each of the second preset angles and a voltage value corresponding to each of the second preset angles; Inputting the current voltage value of the voltage sensor located at the wrist joint into the second corresponding relationship; The current angle value of the robotic arm in the second motion state when the voltage sensor located at the wrist joint outputs the current voltage value is determined according to the second corresponding relationship.

2. The rehabilitation training system according to claim 1, characterized in that: The host computer is used for, after the first corresponding relationship between each of the first preset angles and the voltage values ​​corresponding to each of the first preset angles is established, and before the first current voltage value of the voltage sensor located at the shoulder joint and / or the second current voltage value of the voltage sensor located at the elbow joint is input into the first corresponding relationship, further comprising: Acquire a first measured angle value of the robotic arm connected to the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint and a first actual voltage value of the voltage sensor at the shoulder joint and / or the voltage sensor at the elbow joint measured by a protractor; Inputting the first measured angle value and the first actual voltage value into the first corresponding relationship; In the case where the relationship between the first measured angle value and the first actual voltage value satisfies the first corresponding relationship, entering the step of inputting the first current voltage value of the voltage sensor located at the shoulder joint and / or the second current voltage value of the voltage sensor located at the elbow joint into the first corresponding relationship; Similarly, the host computer is used for, after the second corresponding relationship between each second preset angle and the voltage value corresponding to each second preset angle is established, and before the current voltage value of the voltage sensor located at the wrist joint is input into the second corresponding relationship, further comprising: Acquire a second measured angle value of the mechanical arm connected to the voltage sensor at the wrist joint and a second actual voltage value of the voltage sensor at the wrist joint measured by the protractor; Inputting the second measured angle value and the second actual voltage value into the second corresponding relationship; When the relationship between the second measured angle value and the second actual voltage value satisfies the second corresponding relationship, the step of inputting the current voltage value of the voltage sensor located at the wrist joint into the second corresponding relationship is entered.

3. The rehabilitation training system according to claim 1 or 2, characterized in that: The host computer is used to obtain the angle value of the rotation of the mechanical arm according to the voltage value of the voltage sensor, including: The host computer is used to obtain the voltage value corresponding to the voltage sensor at each moment within a preset time; Obtaining all angle values ​​of the rotation of the robotic arm corresponding to the output of each voltage value through a corresponding relationship; wherein the corresponding relationship includes the first corresponding relationship and the second corresponding relationship; A weighted average is performed on all the angle values ​​to determine the angle value of the rotation of the robot arm.

4. The rehabilitation training system according to claim 1, characterized in that: The host computer is used to obtain the angle value of the rotation of the robotic arm according to the voltage value of the voltage sensor, and is also used to convert the angle value into plane coordinates and / or three-dimensional coordinates through a spatial coordinate conversion algorithm; and establish a rehabilitation training scene according to the plane coordinates and / or the three-dimensional coordinates.

5. The rehabilitation training system according to claim 4, characterized in that: The host computer is used to convert the angle value into plane coordinates and / or three-dimensional coordinates, and then obtain the voltage value of the grip force sensor; and convert the voltage value of the grip force sensor into a grip force value.

6. The rehabilitation training system according to claim 5, characterized in that: The host computer is also used to display the result of the current rehabilitation training on a display and store the result of the current rehabilitation training.

7. The rehabilitation training system according to claim 1, characterized in that: The voltage sensor is connected to the host computer wirelessly.

8. A rehabilitation training device, characterized in that: A rehabilitation training system comprising any one of claims 1 to 7.

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