Upper limb training method and device combining cognitive and motor functions

Abstract

The present invention provides an upper limb training method and device combining cognitive and motor functions, providing a graphical user interface through a terminal device, the graphical user interface at least including a cognitive task operation area, the method comprising the following steps: obtaining the position data and strength data of the manipulated object of the upper limb training device during the upper limb training process, mapping the acquired position data of the manipulated object into a control signal for controlling a mouse pointer, so as to control the mouse pointer to select a target object in the cognitive task operation area, and move the target object to a receiving area; determining the cognitive task evaluation result in the upper limb training process based on the target object received in the receiving area, and determining the motor data in the upper limb training process based on the acquired position data and strength data of the manipulated object. The method and device improve the training effect of the operator in the upper limb training process.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training, and in particular to an upper limb training method and device combining cognitive and motor functions. Background Art

[0002] At present, when upper limb training is performed based on upper limb training equipment, the operator generally performs training based on a training plan, which includes, for example, which upper limb movements to perform, the training time of various upper limb movements, etc. Although this training method has a certain effect on the operator's upper limb training, for some special training scenarios, the cognitive ability of the brain is also a major factor affecting its training effect; and when performing upper limb training in the prior art, traditional upper limb training methods usually only focus on the recovery and improvement of motor function, while ignoring the training of cognitive function, that is, there is no upper limb training method in the prior art that takes into account the cognitive ability of the brain, which leads to unsatisfactory training effects when the operator performs upper limb training, and cannot truly reflect the coordination ability of the operator's brain and upper limbs. Therefore, how to improve the training effect of the operator in the process of upper limb training is a technical problem that needs to be solved urgently. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides an upper limb training method and device that combines cognitive and motor functions to eliminate or improve one or more defects in the prior art.

[0004] One aspect of the present invention provides an upper limb training method combining cognitive and motor functions, wherein a graphical user interface is provided through a terminal device, and the graphical user interface at least includes a cognitive task operation area. The method comprises the following steps:

[0005] Acquire position data and force data of a manipulated object of the upper limb training device during upper limb training, and map the acquired position data of the manipulated object into a control signal for controlling a mouse pointer, so as to control the mouse pointer to select a target object in the cognitive task operation area and move the target object to a receiving area;

[0006] The cognitive task evaluation results during the upper limb training process are determined based on the target object received by the receiving area, and the motion data during the upper limb training process is determined based on the acquired position data and strength data of the manipulated object.

[0007] In some embodiments of the present invention, before obtaining the position data and force data of the manipulated object of the upper limb training device during the upper limb training process, the method includes:

[0008] The training method is determined based on the experimental paradigm, and the training method is resistance, no resistance, power-assisted, passive mode, XY power-assisted, XY resistance, XZ power-assisted, XZ resistance, YZ power-assisted, and YZ resistance.

[0009] In some embodiments of the present invention, the manipulated object is a joystick, the position data includes position coordinates, and the force data includes X-axis force, Y-axis force, and Z-axis force applied by the operator to the joystick.

[0010] In some embodiments of the present invention,

[0011] Cognitive tasks include number sequencing tasks, logical number sequence tasks and / or numerical calculation tasks; and / or,

[0012] The method further includes: determining whether the joystick is located in a safe area based on the position coordinates of the joystick;

[0013] A warning message is generated when being outside the safety zone.

[0014] In some embodiments of the present invention, determining the cognitive task evaluation result in the upper limb training process based on the target object received by the receiving area includes:

[0015] Acquire the start time of the cognitive task and the reception time of the target object received by the receiving area;

[0016] Determining whether the execution duration of the cognitive task is within the allowed duration based on the start time and the reception time;

[0017] Within the allowed duration, determining whether the target object received by the receiving area is consistent with the correct answer, and scoring if consistent;

[0018] The total score of each cognitive task is used as the cognitive task evaluation result during the upper limb training process.

[0019] In some embodiments of the present invention, the motion data includes average moving speed, maximum moving speed, total moving length, maximum force in the X direction, maximum force in the Y direction, maximum force in the Z direction, average force in the X direction, average force in the Y direction, and average force in the Z direction.

[0020] In some embodiments of the present invention, determining the motion data in the upper limb training process based on the acquired position data and force data of the manipulated object includes:

[0021] Constructing a relationship function between the position coordinates of the manipulated object and time, and determining the position coordinates of the manipulated object at the initial position and the position coordinates of the manipulated object at the stop position;

[0022] Calculate the average moving speed and the maximum moving speed based on the relationship function, and calculate the total moving length of the manipulated object based on the position coordinates of the manipulated object at the initial position and the position coordinates of the manipulated object at the stop position;

[0023] Determine the maximum force in the X direction, the maximum force in the Y direction, and the maximum force in the Z direction based on the X-axis force, the Y-axis force, and the Z-axis force applied by the operator to the joystick;

[0024] The average force in the X direction, the average force in the Y direction and the average force in the Z direction are determined based on the total force in the X direction, the total force in the Y direction and the total force in the Z direction applied by the operator on the joystick during the performance of the cognitive task and the duration of application.

[0025] According to another aspect of the present invention, an upper limb training system combining cognitive and motor functions is also disclosed. The system adopts the upper limb training method combining cognitive and motor functions as described in any of the above embodiments, and the system includes:

[0026] Upper limb training equipment;

[0027] An information acquisition module is located on the upper limb training device and is used to obtain position data and force data of a manipulated object of the upper limb training device during upper limb training;

[0028] A control module is used to map the acquired position data of the manipulated object into a control signal for controlling a mouse pointer, so as to control the mouse pointer to select a target object in the cognitive task operation area and move the target object to a receiving area, and to determine the cognitive task evaluation results in the upper limb training process based on the target object received in the receiving area, and to determine the motion data in the upper limb training process based on the acquired position data and strength data of the manipulated object.

[0029] In some embodiments of the present invention, the upper limb training device comprises:

[0030] Pedestal;

[0031] The first guide rail, the second guide rail and the third guide rail are respectively arranged on the base along the X-axis, the Y-axis and the Z-axis;

[0032] The first ends of the first link mechanism, the second link mechanism and the third link mechanism can slide along the first guide rail, the second guide rail and the third guide rail respectively;

[0033] The joystick is hingedly connected to the first link mechanism, the second link mechanism and the second end of the third link mechanism.

[0034] According to another aspect of the present invention, there is provided a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in any of the above embodiments are implemented.

[0035] The upper limb training method and device combining cognitive and motor functions of the present invention, during the upper limb training process, maps the position data of the manipulated object controlled by the operator into a control signal for controlling the mouse pointer, so as to control the mouse pointer to select the target object in the cognitive task operation area and move the target object to the receiving area, that is, the operator can simultaneously complete the evaluation of cognitive ability and upper limb motor function by manipulating the upper limb training equipment. This method combines cognitive tasks with upper limb motor tasks, realizes the coordinated training of the brain and upper limb muscles, and improves the training effect of upper limb training.

[0036] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention may be achieved and obtained by the structures specifically indicated in the specification and the accompanying drawings.

[0037] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0039] Figure 1 The figure is a flow chart of an upper limb training method combining cognitive and motor functions according to an embodiment of the present invention.

[0040] Figure 2 This is a schematic structural diagram of an upper limb training system that combines cognitive and motor functions according to another embodiment of the present invention.

[0041] Figure 3 This is a schematic diagram of an interface for setting an operation procedure of an upper limb training method according to an embodiment of the present invention.

[0042] Figure 4 This is a schematic diagram of an interface for combining cognitive and motor training of an upper limb training method according to an embodiment of the present invention.

[0043] Figure 5 This is a schematic diagram of a setting interface of an upper limb training method according to an embodiment of the present invention.

[0044] Figure 6 This is a schematic diagram of an interface for a digital sequencing cognitive task of an upper limb training method according to an embodiment of the present invention.

[0045] Figure 7 This is a schematic diagram of an interface of a logical sequence cognitive task of an upper limb training method according to an embodiment of the present invention.

[0046] Figure 8 Schematic diagram of the interface of the digital calculation cognitive task of the upper limb training method according to an embodiment of the present invention.

[0047] Fig. 9 This is a flow chart of an upper limb training method combining cognitive and motor functions according to another embodiment of the present invention.

[0048] Reference numerals:

[0049] Base 1 host 2 power switch 21 emergency stop button 22 first link mechanism 31 second link mechanism 32 third link mechanism 33 joystick 4 frame 5 display screen 6 first guide rail 71 second guide rail 72 third guide rail 73 DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0051] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0052] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0053] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0054] Cognitive function refers to the ability of the human brain to receive, process and use information, including perception, attention, memory, thinking and understanding. Motor function refers to the coordinated work of the human body's muscles and nervous system to complete a series of complex movements or action sequences. Cognitive function and motor function are closely related and influence each other. Studies have shown that the improvement of cognitive function can improve the performance of motor function, and sports training can also promote the development of cognitive function. Therefore, the upper limb training system that combines cognitive and motor functions can not only train the operator's upper limb function more comprehensively, but also improve their cognitive ability and help the operator better adapt to daily life and work environment. In general, the upper limb training system that combines cognitive and motor functions is developed on the basis of existing technology and research. It makes full use of the relationship between cognitive and motor functions and brings new ideas and methods to the field of upper limb training.

[0055] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0056] Figure 1 FIG. 1 is a flow chart of an upper limb training method combining cognitive and motor functions according to an embodiment of the present invention. The upper limb training method provides a graphical user interface through a terminal device, and the graphical user interface at least includes a cognitive task operation area, such as Figure 1 As shown, the upper limb training method at least includes steps S10 to S20.

[0057] Step S10: Obtain the position data and strength data of the manipulated object of the upper limb training equipment during the upper limb training process, and map the acquired position data of the manipulated object into a control signal for controlling the mouse pointer to control the mouse pointer to select the target object in the cognitive task operation area and move the target object to the receiving area.

[0058] In this step, the position data and force data of the manipulated object can be collected based on the information collection module on the upper limb training device. The manipulated object is a part of the upper limb training device for the operator to grasp or press during the upper limb training process. For example, in some upper limb training devices, the manipulated object is a joystick; and in order to obtain the position data and force data of the joystick, an information collection module can generally be set inside the joystick. In addition, the terminal device can specifically include a display device such as a display screen, that is, the graphical user interface is displayed in the display screen, and the mouse pointer is also displayed in the display screen.

[0059] In one embodiment, the position data may specifically include the position coordinates of the joystick, and the force data may specifically include the X-axis force, Y-axis force, and Z-axis force applied by the operator to the joystick. In order to collect the position data and force data of the manipulated object, the information collection module may include a position sensor and a force sensor, the position sensor is used to obtain the position coordinate data of the joystick, and the force sensor is used to obtain the force data.

[0060] After obtaining the position data and force data, the position data is further converted into coordinates to control the movement of the mouse pointer to complete the cognitive task. In this embodiment, the mouse pointer moves synchronously with the joystick, that is, based on the obtained position coordinates of the joystick, the position coordinates of the joystick at the current time are converted into the position coordinates of the mouse pointer through coordinate conversion in Unity, so as to realize the linkage between the joystick and the mouse pointer. Further, when the joystick is moved to control the movement of the mouse pointer, the mouse pointer will move and select the target object. If the joystick is further moved, the selected target object can be moved to the receiving area through the mouse pointer.

[0061] Further, the cognitive task may specifically be a digital cognitive task, which includes a digital sorting task, a logical sequence task, and / or a digital operation task. In this embodiment, the three types of digital cognitive tasks are listed as just an example. In some other embodiments, the cognitive task may also be other types of tasks besides the digital cognitive task.

[0062] In the number sorting task, the operator needs to move the joystick to control the mouse pointer on the display screen within the specified time to complete the sorting of two numbers from large to small or small to large. The sorting from large to small or small to large appears randomly. Two points will be awarded for a correct answer and no points will be awarded for an incorrect answer. Regardless of whether the answer is correct or not, the next question will be refreshed. Figure 6 This is a schematic diagram of the interface of the digital sorting cognitive task of the upper limb training method according to an embodiment of the present invention. In this embodiment, the operator needs to move the joystick to control the mouse pointer in the display screen to sort the two numbers 83 and 16 from small to large within 60 seconds, that is, to move the two numbers 83 and 16 to the two blank boxes (receiving areas) below respectively.

[0063] In the logical sequence task, the operator needs to observe the pattern of arithmetic sequence within 100 within the specified time and move the joystick to control the mouse pointer on the display screen to select the correct answer and move the answer to the specified position. One point will be awarded for each correct answer and no point will be awarded for an incorrect answer. Regardless of whether the answer is correct or not, the next question will be refreshed. Figure 7 FIG. 1 is a schematic diagram of an interface of a logical sequence cognitive task of an upper limb training method according to an embodiment of the present invention. Figure 7As shown, the operator needs to find the pattern of the numbers within 60 seconds and select the correct option, moving the joystick to control the mouse in the display screen to move the selected option to the blank grid receiving area in front of the number 16.

[0064] Similarly, in the digital calculation task, the operator needs to perform addition, subtraction, multiplication and division operations within 100 within a specified time and move the joystick to control the mouse pointer on the display screen to select the correct answer and move the answer to the specified position. Addition, subtraction, multiplication and division operations appear randomly. One point is awarded for a correct answer and no points are awarded for an incorrect answer. The next question will be refreshed regardless of whether the answer is correct or not. Figure 8 FIG. 1 is a schematic diagram of an interface of a digital computing cognitive task of an upper limb training method according to an embodiment of the present invention. Figure 8 In the illustrated embodiment, the prescribed time is set to 60 seconds, which is the preset allowable duration for completing the cognitive task, that is, if the operator completes the digital cognitive task within 60 seconds and selects the correct answer, it means that the digital cognitive task gets one point; in this embodiment, the operator needs to calculate the given question within 60 seconds, select the correct answer, and move the joystick to control the mouse on the display screen to move the selected option to the blank space in front of the "+".

[0065] Step S20: determining the cognitive task evaluation results during the upper limb training process based on the target object received by the receiving area, and determining the motion data during the upper limb training process based on the acquired position data and strength data of the manipulated object.

[0066] In this step, the target object received in the receiving area is further used to determine whether the operator has completed the cognitive task, that is, to determine whether the result of the cognitive task completed by the operator by operating the mouse pointer is correct.

[0067] In the embodiment where the above-mentioned cognitive task is a digital cognitive task, when the joystick is moved to control the mouse in the display screen, when the mouse pointer moves to the selected object (target object), the selected number is selected. When the selected number moves to the blank area of ​​the answer (receiving area), the selected number is released, and further judgment is made as to whether the answer is correct. If it is correct, one point is awarded, and if it is wrong, no point is awarded. Regardless of whether it is correct or not, it will be refreshed to the next question in this type of digital cognitive task.

[0068] In some embodiments, determining the cognitive task evaluation result in the upper limb training process based on the target object received by the receiving area includes: obtaining the start time of the cognitive task and the reception time of the target object received by the receiving area; determining whether the execution time of the cognitive task is within the allowed duration based on the start time and the reception time; judging whether the target object received by the receiving area is consistent with the correct answer when it is within the allowed duration, and scoring when it is consistent; and taking the total score of each cognitive task as the cognitive task evaluation result in the upper limb training process. In this embodiment, firstly, judging whether the time taken by the operator to complete the cognitive task is within the allowed duration. If the time taken is within the allowed duration, it means that the operator has completed the cognitive task within the specified time. At this time, it can be judged based on the task result whether the operator has scored for completing the cognitive task. If the time taken is not within the allowed duration, it means that the operator has not completed the task within the specified time. At this time, it is judged that the cognitive task is not scored.

[0069] Furthermore, in the digital cognition task, if the cognitive tasks that the operator needs to complete are a digital sorting task, a logical sequence task, and a digital calculation task, and the digital sorting task, the logical sequence task, and the digital calculation task respectively include multiple questions, then the total score of each cognitive task is the total score of the digital sorting task, the total score of the logical sequence task, and the total score of the digital calculation task.

[0070] In addition, since the position data includes the position coordinates of the joystick, and the force data includes the forces applied by the operator to the joystick in the X-axis direction, the Y-axis direction, and the Z-axis direction, the motion data may include the average moving speed, the maximum moving speed, the total moving length, the maximum force in the X direction, the maximum force in the Y direction, the maximum force in the Z direction, the average force in the X direction, the average force in the Y direction, and the average force in the Z direction.

[0071] Furthermore, based on the acquired position data and force data of the manipulated object, the motion data in the upper limb training process is determined, including: constructing a relationship function between the position coordinates of the manipulated object and time, and determining the position coordinates of the manipulated object at the initial position and the position coordinates at the stop position; calculating the average movement speed and the maximum movement speed based on the relationship function, and calculating the total movement length of the manipulated object based on the position coordinates of the manipulated object at the initial position and the position coordinates at the stop position; determining the maximum force in the X-axis direction, the maximum force in the Y-axis direction, and the maximum force in the Z-axis direction based on the X-axis force, the Y-axis force, and the Z-axis force applied by the operator to the joystick; and determining the average force in the X-axis direction, the average force in the Y-axis direction, and the average force in the Z-axis direction based on the total force in the X-axis direction, the total force in the Y-axis direction, and the total force in the Z-axis direction applied by the operator to the joystick during the performance of cognitive tasks and the duration of application.

[0072] Exemplarily, in the corresponding upper limb training system that combines cognitive and motor functions, the data collected by the position sensor and force sensor inside the joystick are transmitted to the control module, and the appropriate physical formulas are used in Unity to calculate and output the motion data. The motion data includes: average speed, maximum speed, total length of movement, maximum force in the X direction, maximum force in the Y direction, maximum force in the Z direction, average force in the X direction, average force in the Y direction, and average force in the Z direction.

[0073] The maximum speed is determined by calculating the modulus of the velocity vector of the joystick during its motion. The position coordinates of the joystick at time t are (x(t), y(t), z(t)). (x(t), y(t), z(t)) represent the relationship between the position coordinates and time. The velocity vector is in Respectively represent the derivatives of x(t), y(t), and z(t) with respect to time t. The maximum velocity of the joystick during the entire motion process is the maximum value of the modulus of its velocity vector, that is, That is, by calculating the modulus of the velocity vector and finding its maximum value, the maximum velocity of the joystick during the entire motion process can be determined in cm / s.

[0074] Furthermore, the average velocity is determined by dividing the sum of the velocities of the joystick at different time points by the duration of the joystick movement. Since the velocity vector of the joystick is The average speed V avg It can be calculated by the following formula: in It represents the integration of time t from t1 to t2, where time t1 represents the time when the joystick starts to move, and time t2 represents the time when the joystick stops moving. In this embodiment, the module length of the velocity vector is integrated and divided by the duration of the joystick movement to obtain the average velocity of the joystick during the entire movement, in units of cm / s.

[0075] The total length of the movement is determined by the sum of the path lengths that the joystick travels during the movement. The joystick position coordinates at t1 are (x(t1), y(t1), z(t1)), and the coordinates at t2 are (x(t2), y(t2), z(t2)). The path length between time t1 and t2 can be determined by calculating the Euclidean distance between the joystick positions at these two time points, that is, the path length between t1 and t2 is Then add up all the path lengths to get the total movement length of each level in cm. In addition, for the convenience of calculation and considering performance requirements, t2-t1 is fixed to 0.01s, that is, the path length is calculated every 0.01s, and the total movement length is the sum of the path lengths at every 0.01s time interval.

[0076] The maximum force in the X direction is the maximum force applied by the operator in the X direction of the joystick during the duration, in N; the maximum force in the Y direction is the maximum force applied by the operator in the Y direction of the joystick during the duration, in N; the maximum force in the Z direction is the maximum force applied by the operator in the Z direction of the joystick during the duration, in N. The average force in the X direction is the integral of the force applied by the operator in the X direction of the joystick during the duration divided by the duration, in N; that is, F X (t) is the force in the X direction at time t; the average Y force is the integral of the force applied by the operator in the Y direction of the joystick during the duration divided by the duration, in N. F Y (t) is the force in the Y direction at time t; the average force in the Z direction is the integral of the force applied by the operator in the Z direction of the joystick during the duration divided by the duration, in N, F Z (t) is the force in the Z direction at time t. In the above, t2 represents the end time of the joystick movement, t1 represents the start time of the joystick movement, and t2-t1 represents the duration of the joystick movement.

[0077] Specifically, when the cognitive tasks are digital sorting tasks, logical sequence tasks, and digital calculation tasks, various cognitive tasks are completed, and based on the above calculation method, the cognitive task evaluation results and movement data corresponding to each task are obtained accordingly.

[0078] In some other embodiments of the present invention, before obtaining the position data and force data of the manipulated object of the upper limb training device during the upper limb training process, the training mode can also be determined based on the experimental paradigm, and the training mode is resistance, no resistance, power, passive mode, XY power, XY resistance, XZ power, XZ resistance, YZ power, YZ resistance. In addition to determining the training mode based on the experimental paradigm, the allowable duration of each cognitive task can also be determined based on the experimental paradigm.

[0079] Figure 5 This is a schematic diagram of the setting interface of the upper limb training method according to an embodiment of the present invention. In this embodiment, the first level time refers to the allowed duration of the digital sorting task, the second level time refers to the allowed duration of the logical sequence task, and the third level time refers to the allowed duration of the digital calculation task. Figure 5 In the interface shown, you can set the first level time, second level time, third level time, date and name.

[0080] In addition Figure 4The game can be reset and data content can be exported in the graphical user interface shown. In one embodiment, the data content may specifically include the scores, allowed duration, average speed, maximum speed, total movement length, maximum force in the X direction, maximum force in the Y direction, maximum force in the Z direction, average force in the X direction, average force in the Y direction, average force in the Z direction, etc. corresponding to various digital cognitive tasks.

[0081] Fig. 9 FIG. 1 is a flow chart of an upper limb training method combining cognitive and motor functions according to another embodiment of the present invention. Fig. 9 As shown, the method first selects the operation mode of the upper limb training device according to the preset experimental paradigm, opens the serial ports of the position sensor and the force sensor to collect and output data, and sets the allowed duration of each type of digital cognitive task according to the experimental paradigm; then the experiment is officially started, the mouse pointer on the display screen is moved by moving the joystick, and the operation is stopped after the specified time is reached; after the three types of digital cognitive tasks are completed, the scores, allowed duration and motion data of each type of digital cognitive task are output. In addition, before the formal experiment begins, the upper limb training device needs to be enabled, the joystick is returned to the zero position, and the Z-axis rise and Z-axis fall functions (such as Figure 3 In addition, some other embodiments of the present application can also determine whether the joystick is located in a safe area based on the position coordinates of the joystick; generate a warning message when it is outside the safe area; that is, when the operator moves the joystick to the extreme position, an alarm message will appear in the limit status display area of ​​the graphical user interface.

[0082] In some other embodiments, after obtaining the operator's cognitive task evaluation results and the motion data during the upper limb training process, the operator's brain and upper limb muscle coordination ability during the upper limb training process can be further determined based on the obtained cognitive task evaluation results and motion data, thereby determining the operator's upper limb condition based on the operator's brain and upper limb muscle coordination ability. Exemplarily, the operator's brain and upper limb muscle coordination ability can be judged based on the correspondence between the predetermined cognitive task evaluation results, motion data, and coordination ability results. In addition, based on the determined brain and upper limb muscle coordination ability, the upper limb training program can be further adjusted for the operator.

[0083] Correspondingly, the present invention also provides an upper limb training system that combines cognitive and motor functions, the system adopts an upper limb training method that combines cognitive and motor functions as described in any of the above embodiments, the system includes: an upper limb training device; an information acquisition module, located on the upper limb training device, for obtaining position data and strength data of a manipulated object of the upper limb training device during upper limb training; a control module, for mapping the acquired position data of the manipulated object into a control signal for controlling a mouse pointer, so as to control the mouse pointer to select a target object in the cognitive task operation area, and move the target object to a receiving area, for determining a cognitive task evaluation result in the upper limb training process based on the target object received in the receiving area, and determining the motor data in the upper limb training process based on the acquired position data and strength data of the manipulated object.

[0084] Furthermore, the upper limb training equipment includes: a base; a first guide rail, a second guide rail and a third guide rail, which are respectively arranged on the base along the X-axis, the Y-axis and the Z-axis; a first connecting rod mechanism, a second connecting rod mechanism and a third connecting rod mechanism, whose first ends can slide along the first guide rail, the second guide rail and the third guide rail respectively; and a joystick, which is hingedly connected to the second ends of the first connecting rod mechanism, the second connecting rod mechanism and the third connecting rod mechanism.

[0085] Figure 2 FIG. 1 is a schematic diagram of the structure of an upper limb training system combining cognitive and motor functions according to another embodiment of the present invention. Figure 2 As shown, the first guide rail 71, the second guide rail 72 and the third guide rail 73 are all arranged on the base 1, the first link mechanism 31 can slide left and right in the first guide rail 71, the second link mechanism 32 can slide forward and backward in the second guide rail 72, and the third link mechanism 33 can slide up and down in the third guide rail 73. For the upper limb training device, the operator can grasp the joystick 4 to control the movement of the link mechanism in the X, Y, and Z directions; the display device may specifically include a frame 5 and a display screen 6, and the display screen 6 is used to display digital cognitive tasks and the operating procedures of the upper limb training device. In some embodiments, the information acquisition module is used to collect the position data and force data of the upper joystick 4 during the user's upper limb training process, and transmit the position data and force data to the control module; the control module is used to coordinate the position data in the upper limb training device, control the mouse pointer in the display device to complete the digital cognitive task, and calculate the collected force data, and then output the motion data of the user during the upper limb training process.

[0086] In order to make the joystick 4 move synchronously with the mouse pointer, the movement range of the joystick 4 is obtained by acquiring the extreme positions of the joystick 4 in the positive and negative directions of X, Y, and Z. Through coordinate transformation in Unity, the coordinates of the joystick 4 at the current time are converted into the coordinates of the mouse pointer in the display screen 6, thereby realizing the linkage between the joystick 4 and the mouse pointer in the display screen 6.

[0087] Furthermore, in the above embodiment, the control module is specifically located in the host 2, and the host 2 is also provided with a power switch 21 and an emergency stop button 22 of the upper limb training device.

[0088] In the above embodiment, by combining cognitive tasks and motor movements, a new comprehensive training method is provided for upper limb training, which aims to help users comprehensively improve cognitive and motor functions, improve the efficiency of upper limb training, and thus achieve more effective training results. In this application, the combination of cognitive tasks and upper limb movements also promotes the synergy between the brain and muscles, improves the overall performance of upper limb function and cognitive ability, and helps users enhance upper limb motor control, attention and reaction speed, and promotes the improvement of cognitive function through systematic training.

[0089] An embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned edge computing server deployment method.

[0090] The computer readable storage medium may be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0091] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0092] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0093] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0094] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An upper limb training method combining cognitive and motor functions, providing a graphical user interface through a terminal device, wherein the graphical user interface at least includes a cognitive task operation area, characterized in that: The method comprises the following steps: Acquire position data and force data of a manipulated object of the upper limb training device during upper limb training, and map the acquired position data of the manipulated object into a control signal for controlling a mouse pointer, so as to control the mouse pointer to select a target object in the cognitive task operation area and move the target object to a receiving area; Determine the cognitive task evaluation results during the upper limb training process based on the target object received by the receiving area, and determine the motion data during the upper limb training process based on the acquired position data and force data of the manipulated object; The manipulated object is a joystick, the position data includes position coordinates, and the force data includes X-axis force, Y-axis force, and Z-axis force applied by the operator to the joystick; Cognitive tasks include number sequencing tasks, logical number sequence tasks and / or numerical calculation tasks; and / or, The method further includes: determining whether the joystick is located in a safe area based on the position coordinates of the joystick; generating a warning message when located outside the safety zone; Determining cognitive task evaluation results during upper limb training based on the target object received by the receiving area includes: Acquire the start time of the cognitive task and the reception time of the target object received by the receiving area; Determining whether the execution duration of the cognitive task is within the allowed duration based on the start time and the reception time; Within the allowed duration, determining whether the target object received by the receiving area is consistent with the correct answer, and scoring if consistent; The total score of each cognitive task is used as the cognitive task evaluation result during the upper limb training process.

2. The upper limb training method combining cognitive and motor functions according to claim 1, characterized in that: Before obtaining the position data and force data of the manipulated object of the upper limb training device during the upper limb training process, the method includes: The training method is determined based on the experimental paradigm, and the training method is resistance, no resistance, power-assisted, passive mode, XY power-assisted, XY resistance, XZ power-assisted, XZ resistance, YZ power-assisted, and YZ resistance.

3. The upper limb training method combining cognitive and motor functions according to claim 1, characterized in that: The motion data includes average moving speed, maximum moving speed, total moving length, maximum force in the X direction, maximum force in the Y direction, maximum force in the Z direction, average force in the X direction, average force in the Y direction, and average force in the Z direction.

4. The upper limb training method combining cognitive and motor functions according to claim 3, characterized in that: Determining the motion data in the upper limb training process based on the acquired position data and strength data of the manipulated object includes: Constructing a relationship function between the position coordinates of the manipulated object and time, and determining the position coordinates of the manipulated object at the initial position and the position coordinates of the manipulated object at the stop position; Calculate the average moving speed and the maximum moving speed based on the relationship function, and calculate the total moving length of the manipulated object based on the position coordinates of the manipulated object at the initial position and the position coordinates of the manipulated object at the stop position; Determine the maximum force in the X direction, the maximum force in the Y direction, and the maximum force in the Z direction based on the X-axis force, the Y-axis force, and the Z-axis force applied by the operator to the joystick; The average force in the X direction, the average force in the Y direction and the average force in the Z direction are determined based on the total force in the X direction, the total force in the Y direction and the total force in the Z direction applied by the operator on the joystick during the performance of the cognitive task and the duration of application.

5. An upper limb training system combining cognitive and motor functions, characterized in that: The system adopts the upper limb training method combining cognitive and motor functions as described in any one of claims 1 to 4, and the system comprises: Upper limb training equipment; An information acquisition module is located on the upper limb training device and is used to obtain position data and force data of a manipulated object of the upper limb training device during upper limb training; A control module is used to map the acquired position data of the manipulated object into a control signal for controlling a mouse pointer, so as to control the mouse pointer to select a target object in the cognitive task operation area and move the target object to a receiving area, and to determine the cognitive task evaluation results in the upper limb training process based on the target object received in the receiving area, and to determine the motion data in the upper limb training process based on the acquired position data and strength data of the manipulated object.

6. The upper limb training system according to claim 5, characterized in that: The upper limb training equipment comprises: Pedestal; The first guide rail, the second guide rail and the third guide rail are respectively arranged on the base along the X-axis, the Y-axis and the Z-axis; The first ends of the first link mechanism, the second link mechanism and the third link mechanism can slide along the first guide rail, the second guide rail and the third guide rail respectively; The joystick is hingedly connected to the first link mechanism, the second link mechanism and the second end of the third link mechanism.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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