Mirror image upper limb auxiliary rehabilitation equipment, system and method

Abstract

A mirror image upper limb auxiliary rehabilitation device relates to the technical field of medical equipment, and comprises an uninjured side exoskeleton, an uninjured side control chip and a plurality of uninjured side sensors, the uninjured side sensors are used for collecting motion signals of different parts of an uninjured side upper limb, the uninjured side control chip obtains the posture of the uninjured side upper limb according to the motion signals, and the uninjured side exoskeleton is connected with the uninjured side control chip; transmitting to an external rehabilitation platform and carrying out mirror image copying; the affected side exoskeleton is provided with an affected side control chip, a driving part and a plurality of myoelectricity sensors, the affected side control chip receives the mirror image posture of the uninjured side exoskeleton and controls the driving part to drive the affected side upper limb to follow the uninjured side upper limb in real time to achieve the mirror image posture, and the myoelectricity sensors collect myoelectricity signals of different muscle groups of the affected side upper limb in real time; transmitting to an external rehabilitation platform; and the connecting part can be worn on the patient and is used for connecting the uninjured side exoskeleton and the affected side exoskeleton. The posture can be adjusted in real time according to different conditions of the patient at any time, self perception of the patient is achieved, and the rehabilitation comfort is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a mirror-image upper limb auxiliary rehabilitation device, system and method. Background Art

[0002] Existing limb-assisted rehabilitation systems are mainly installed in hospitals. After the medical staff wears the system for the patient, they can perform passive rehabilitation movements according to the set program. Some wearable limb-assisted rehabilitation systems can also be used for home rehabilitation, but the rehabilitation movements are pre-set according to the program, and the rehabilitation movements and intensity can only be changed after the medical staff adjusts them according to the patient.

[0003] However, even for the same patient, the execution of rehabilitation movements may be different under the influence of different time and environment. Traditional limb-assisted rehabilitation systems find it difficult to perceive this situation and cannot make real-time posture adjustments according to the patient's different conditions, and cannot achieve more detailed rehabilitation work. Summary of the invention

[0004] The present application provides a mirror upper limb auxiliary rehabilitation device, system and method, which can solve the technical problem in the prior art that posture adjustment cannot be performed in real time according to different conditions of the patient.

[0005] In a first aspect, an embodiment of the present application provides a mirror upper limb auxiliary rehabilitation device, the device comprising:

[0006] The healthy side exoskeleton is equipped with a healthy side control chip and multiple healthy side sensors. The multiple healthy side sensors are used to collect motion signals from different parts of the healthy side upper limb. The healthy side control chip is used to obtain the posture of the healthy side upper limb according to the motion signals, transmit them to the external rehabilitation platform and perform mirror copying;

[0007] The affected-side exoskeleton is equipped with an affected-side control chip, a driving component, and a plurality of myoelectric sensors. The affected-side control chip is used to receive the mirror posture of the healthy-side exoskeleton, and controls the driving component to drive the affected-side exoskeleton to drive the affected-side upper limb to follow the healthy-side upper limb in real time to achieve the mirror posture. The plurality of myoelectric sensors are used to collect myoelectric signals of different muscle groups of the affected-side upper limb in real time and transmit them to the external rehabilitation platform;

[0008] The connecting part can be worn on the patient and is used to connect the healthy side exoskeleton and the affected side exoskeleton.

[0009] In combination with the first aspect, in one embodiment, the exoskeleton on the affected side is also equipped with multiple pressure sensors, which are used to sense the real-time pressure of the exoskeleton on the affected side on different parts of the upper limb on the affected side. When the real-time pressure of any pressure sensor is greater than the corresponding preset pressure threshold, the driving component of the exoskeleton on the affected side stops driving.

[0010] In combination with the first aspect, in one implementation, the electromyographic sensor is a high-precision array differential electromyographic sensor, which includes:

[0011] The signal acquisition module is made of a flexible circuit board and is used to collect multiple groups of myoelectric signals of a muscle group in the affected upper limb;

[0012] A plurality of amplifying and filtering modules are used to amplify and filter the electromyographic signals collected by the signal collecting module, and each amplifying and filtering module processes two groups of electromyographic signals;

[0013] The data processing module is used to perform analog-to-digital conversion on the amplified and filtered electromyographic signals, and is also used to transmit the converted signals to the outside.

[0014] In combination with the first aspect, in one implementation, the amplification and filtering module includes a differential amplifier and two inverting amplifiers;

[0015] The differential amplifier is used to receive two groups of electromyographic signals through the signal input pin, amplify the differential part of the two groups of signals and then output;

[0016] The two groups of signals output by the differential amplifier are coupled through a capacitor and a resistor and then input into the inverting input terminal of the first inverting amplifier. A part of the signal output by the first inverting amplifier is directly input into the second inverting amplifier, and the other part is coupled with the signal output by the second inverting amplifier after compensation to obtain an amplified and filtered electromyographic signal.

[0017] In combination with the first aspect, in one implementation, the multiple healthy side sensors include a three-dimensional acceleration sensor and an angle sensor, and the multiple angle sensors are distributed at the upper limb joints.

[0018] In a second aspect, the present application provides a rehabilitation system based on any one of the above-mentioned mirror-image upper limb auxiliary rehabilitation devices, the system comprising a mirror-image upper limb auxiliary rehabilitation device, a rehabilitation platform and a user terminal;

[0019] The rehabilitation platform includes a human-computer interaction module, which is used to generate a rehabilitation plan through the instructions received by the human-computer interaction module and send it to the user end; the rehabilitation platform is also used to receive the electromyographic signal transmitted from the affected side control chip in the mirror upper limb auxiliary rehabilitation device, and display it through the human-computer interaction module, and the rehabilitation platform is also used to receive the healthy side upper limb posture data transmitted from the healthy side control chip, and compare it with the baseline posture data of the action in the rehabilitation plan;

[0020] The user terminal is used to receive the rehabilitation plan sent by the rehabilitation platform and display it through the display module.

[0021] In a third aspect, the present application provides a rehabilitation method based on the rehabilitation system, the method comprising:

[0022] The rehabilitation platform receives the instruction, generates a rehabilitation plan and sends it to the user end;

[0023] The patient wears the mirror upper limb auxiliary rehabilitation device, and the healthy upper limb performs movements according to the rehabilitation plan of the user end. At the same time, the healthy sensors at different parts of the healthy upper limb collect motion signals, and the healthy control chip obtains the posture of the healthy upper limb according to the motion signal, and transmits it to the affected control chip in a mirror copy;

[0024] The affected-side control chip receives the mirror image posture of the healthy-side exoskeleton, controls the driving component to drive the affected-side exoskeleton to drive the affected-side upper limb to achieve the mirror image posture, and at the same time, multiple electromyographic sensors collect electromyographic signals of different muscle groups of the affected-side upper limb in real time and transmit them to the rehabilitation platform;

[0025] The rehabilitation platform displays the electromyographic signal through a human-computer interaction module so that medical staff can adjust the rehabilitation plan.

[0026] In combination with the third aspect, in one embodiment, the patient wears the mirror upper limb auxiliary rehabilitation device, and before the healthy upper limb makes a movement, multiple electromyographic sensors collect the electromyographic signals of different muscle groups of the affected upper limb before rehabilitation, and transmit them to the rehabilitation platform as a reference.

[0027] In combination with the third aspect, in one embodiment, after the rehabilitation is completed, the affected upper limb attempts to move autonomously, and at the same time, multiple electromyographic sensors collect electromyographic signals of different muscle groups of the affected upper limb and transmit them to the rehabilitation platform; the rehabilitation platform compares the electromyographic signals of different muscle groups during autonomous movement with the electromyographic signals of the affected upper limb before rehabilitation, and provides rehabilitation effect evaluation.

[0028] In combination with the third aspect, in one embodiment, the rehabilitation platform receives the healthy upper limb posture data sent by the healthy upper limb control chip, analyzes the difference between the healthy upper limb posture and the baseline posture data of the action in the rehabilitation plan, and sends the information that needs to be adjusted to the user end.

[0029] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0030] The present application provides a mirror image upper limb auxiliary rehabilitation device, system and method. By wearing the mirror image upper limb auxiliary rehabilitation device, the patient can perform rehabilitation movements on the healthy upper limb. The healthy exoskeleton mirrors the posture of the healthy upper limb and transmits it to the affected exoskeleton. The driving component of the affected exoskeleton drives the affected upper limb to follow the healthy upper limb in real time to achieve a mirror image posture, so that the posture of the affected upper limb is achieved by following the posture of the healthy upper limb. Since the transmission time is very short, the upper limbs on both sides move almost at the same time. When the patient feels uncomfortable, the posture of the healthy upper limb can be adjusted to achieve the posture adjustment of the affected upper limb to ensure the patient's comfort. The posture can be adjusted in real time according to the different conditions of the patient at any time to achieve the patient's own real-time perception, thereby improving the comfort and efficiency of rehabilitation.

[0031] In addition, multiple electromyographic sensors are used to collect electromyographic signals of different muscle groups of the affected upper limb in real time and transmit them to an external rehabilitation platform so that medical staff can obtain the rehabilitation status of the affected upper limb in a timely manner. The rehabilitation plan can be adjusted in time according to the rehabilitation status to make it more suitable for the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A block diagram of the mirror image upper limb auxiliary rehabilitation device according to an embodiment of the present application;

[0033] Figure 2 This is a schematic diagram of the structure of the exoskeleton and the connection part of the embodiment of the present application;

[0034] Figure 3 This is a block diagram of a high-precision array differential electromyography sensor according to an embodiment of the present application;

[0035] Figure 4 for Figure 3 The schematic diagram of the amplification circuit of the amplification and filtering module;

[0036] Figure 5 for Figure 3 The schematic diagram of the filter circuit of the middle amplification filter module;

[0037] Figure 6 A block diagram of the mirror image upper limb auxiliary rehabilitation system according to an embodiment of the present application;

[0038] Figure 7 Schematic diagram of the process of the rehabilitation method according to an embodiment of the present application.

[0039] Reference numerals:

[0040] 1. Healthy side exoskeleton; 11. Healthy side control chip; 12. Healthy side sensor;

[0041] 2. Exoskeleton on the affected side; 21. Control chip on the affected side; 22. Driving component; 23. Myoelectric sensor; 24. Pressure sensor;

[0042] 3. Connecting part; 31. Connecting bones; 32. Shoulder straps. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings 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.

[0044] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0045] On the first aspect, the embodiments of the present application provide a mirror upper limb auxiliary rehabilitation device, which can solve the technical problem in the prior art that the posture cannot be adjusted in real time according to the different conditions of the patient.

[0046] In one embodiment, referring to Figure 1 , Figure 1 The block diagram of the upper limb assistive rehabilitation device is mirrored for this application. Figure 1 and Figure 2 As shown, the mirror image upper limb auxiliary rehabilitation device includes a healthy exoskeleton 1, an affected exoskeleton 2 and a connecting part 3, wherein the connecting part 3 is used to connect the healthy exoskeleton 1 and the affected exoskeleton 2. When in use, the healthy exoskeleton 1 is worn on the healthy upper limb, the affected exoskeleton 2 is worn on the affected upper limb, and the connecting part 3 is worn on the patient's torso. Figure 2 As shown, in this embodiment, the healthy exoskeleton 1 is the left arm, and the affected exoskeleton 2 is the right arm; in other embodiments, the healthy exoskeleton 1 can also be the right arm, and the affected exoskeleton 2 can be the left arm. The patient only needs to choose the corresponding mirror image upper limb auxiliary rehabilitation device according to whether the affected upper limb is the left arm or the right arm. In addition, the connecting part 3 includes a connecting bone 31 and a shoulder strap 32. The connecting bone is worn on the patient through the shoulder strap 32. The shoulder strap can be adjusted to adapt to patients of different body shapes and improve the comfort of the patient.

[0047] Specifically, the healthy-side exoskeleton 1 is equipped with a healthy-side control chip 11 and multiple healthy-side sensors 12. The multiple healthy-side sensors 12 are attached to different parts of the upper limb for detecting motion signals from different parts of the healthy-side upper limb; the healthy-side control chip 11 is used to obtain the posture of the healthy-side upper limb through calculation based on the motion signals collected by the multiple healthy-side sensors 12, and transmit the posture of the healthy-side upper limb to an external rehabilitation platform; the healthy-side control chip 11 is also used to mirror the posture of the healthy-side upper limb, obtain the mirror posture of the healthy-side upper limb posture through calculation, and transmit it to the affected-side exoskeleton 2.

[0048] The affected-side exoskeleton 2 is equipped with an affected-side control chip 21, a driving component 22, and a plurality of myoelectric sensors 23. The affected-side control chip 21 is used to receive the mirror image posture sent by the healthy-side control chip 11 in the healthy-side exoskeleton 1, and control the driving component 22 to drive the affected-side exoskeleton 1, so as to drive the affected-side upper limb to follow the healthy-side upper limb in real time to achieve the mirror image posture; a plurality of myoelectric sensors 23 are attached to different muscle groups of the affected-side upper limb, including the upper arm and the forearm, and are used to collect the myoelectric signals of different muscle groups of the affected-side upper limb in real time and transmit them to the external rehabilitation platform. In this embodiment, the driving component 22 is a motor.

[0049] In this embodiment, the healthy-side exoskeleton 1 mirrors the posture of the healthy-side upper limb and transmits it to the affected-side exoskeleton 2. The driving component 22 of the affected-side exoskeleton 2 drives the affected-side upper limb to follow the healthy-side upper limb in real time to achieve a mirrored posture, thereby ensuring the patient's comfort. The posture can be adjusted in real time according to the patient's different conditions at any time, thereby realizing the patient's own real-time perception and improving the comfort and efficiency of rehabilitation.

[0050] Furthermore, in one embodiment, the healthy side sensor 12 includes a three-dimensional acceleration sensor and an angle sensor. The three-dimensional acceleration sensor can measure the acceleration of the healthy upper limb in three spatial axes and is widely used in kinematic research and health monitoring. In posture recognition, these three-dimensional acceleration sensors capture the acceleration data of various parts of the upper limb when performing various activities. By analyzing these acceleration data, the dynamic changes of the healthy upper limb can be understood.

[0051] Multiple angle sensors are distributed at least at the healthy upper limb joints, including the shoulder, elbow and wrist. Angle sensors are usually used to measure the relative position or rotation between objects. In healthy upper limb posture recognition, they are usually used to monitor the angle changes of joints. Through multiple angle sensors, the precise angles of joints in activities can be captured in real time, thereby helping to analyze the movement quality and range of the healthy upper limb.

[0052] Furthermore, the angle sensor may be a high-precision angle sensor based on micro-motor technology, or may be implemented by combining a potentiometer with a chip, or may be implemented by using an encoder or the like.

[0053] In this embodiment, different information is captured by a three-dimensional acceleration sensor and an angle sensor, and the healthy-side control chip 11 processes the information through an algorithm and converts it into actual posture recognition information, thereby obtaining an accurate healthy-side upper limb posture.

[0054] Furthermore, in one embodiment, the affected exoskeleton 2 is also equipped with a plurality of pressure sensors 24, which are attached to different parts of the affected upper limb to sense the real-time pressure of the affected exoskeleton 2 on different parts of the affected upper limb, and transmit the implemented pressure to the affected control chip 21. Each pressure sensor 24 has a preset pressure threshold, and when the real-time pressure of any pressure sensor 24 is greater than the corresponding preset pressure threshold, the affected control chip 21 controls the driving component 22 to stop driving.

[0055] In this embodiment, the real-time pressure of the affected exoskeleton 2 on different parts of the affected upper limb is sensed by the pressure sensor 24, and the driving is stopped when it is greater than a preset pressure threshold, thereby ensuring that the affected upper limb is not subjected to excessive pressure, ensuring the safety of rehabilitation, and avoiding damage to the affected upper limb during rehabilitation.

[0056] Furthermore, in one embodiment, the electromyographic sensor 23 is a high-precision array differential electromyographic sensor. Figure 3 As shown, in this embodiment, the high-precision array differential electromyography sensor specifically includes a signal acquisition module, an amplification and filtering module, and a data processing module.

[0057] The signal acquisition module is made of a flexible printed circuit (FPC). In this embodiment, a 2×4 point electrode array is used, in which the 2×4 point electrode array serves as the positive electrode and a single electrode line serves as the negative electrode. The signal acquisition module is applied to different muscle groups of the affected upper limb to collect multiple groups of electromyographic signals from different muscle groups of the affected upper limb. The 2×4 point electrode array made of a flexible printed circuit (FPC) significantly improves the spatial resolution of the electrode, making the collection of electromyographic signals more refined. The use of a flexible printed circuit not only enhances the fit of the electrode, but also reduces the mechanical noise that may be introduced during wearing, thereby improving the overall quality of the signal.

[0058] Furthermore, the signal acquisition module usually uses silver / silver chloride (Ag / AgCl) electrodes, high-quality, low-noise surface electrodes, which can effectively record electromyographic signals. Specifically, the electrodes are placed in the center line of the target muscle and in the parallel direction of the muscle fibers, and the distance is moderate to avoid signal interference. As shown in Table 1, the correspondence between upper limb rehabilitation training movements and major muscle groups is given.

[0059] Table 1

[0060] Upper limb rehabilitation exercises Major muscle groups Shoulder abduction Deltoid (middle bundle), supraspinatus Shoulder flexion Deltoid (anterior bundle), coracobrachialis, pectoralis major (clavicular part) Shoulder internal rotation Subscapularis, teres major, pectoralis major, latissimus dorsi External rotation of the shoulder Infraspinatus, teres minor, deltoid (posterior bundle) Elbow flexion Biceps, brachialis, brachioradialis Elbow extension Triceps, anconeus Forearm pronation Pronator teres, pronator quadratus Forearm supination Supinator, biceps Wrist flexion Flexor carpi ulnaris, flexor carpi radialis, flexor digitorum superficialis Wrist extension Extensor carpi radialis longus, extensor carpi radialis brevis, extensor carpi ulnaris Radial deviation of wrist Flexor carpi radialis, extensor carpi radialis longus, extensor carpi radialis brevis Ulnar deviation of wrist Flexor carpi ulnaris, extensor carpi ulnaris

[0061] Multiple amplifying and filtering modules are used to amplify and filter the electromyographic signals collected by the signal collecting module, and each amplifying and filtering module processes two groups of electromyographic signals. In this embodiment, a 2×4 point electrode array collects 8 groups of electromyographic signals, so there are 4 amplifying and filtering modules.

[0062] The data processing module is used to perform analog-to-digital conversion on the amplified and filtered electromyographic signals, and is also used to transmit the converted signals to the outside.

[0063] Specifically, in this embodiment, the data processing module includes an AD7606 analog-to-digital converter and an STM32 microcontroller. The analog-to-digital converter can perform high-precision conversion on the filtered analog signal to ensure high-quality digital signals. The converted digital signal is processed by the STM32 microcontroller, which is not only responsible for signal processing, but also transmits data wirelessly to an external rehabilitation platform through a built-in WiFi module. This design not only simplifies the data transmission process, but also reduces the interference that may be caused by wired connections.

[0064] Further, in one embodiment, if Figure 4 The figure shows a schematic diagram of the amplifier circuit in the amplifier and filter module. The amplifier circuit mainly includes a differential amplifier U6, Figure 4 In the example, SignalIn1 and SignalIn- are differential input signals, and SignalIn2 and SignalIn2- are differential input signals. Specifically, SignalIn1 and SignalIn- are filtered and current-limited by capacitors C16, C17, and C18 and resistors R45, R46, and R48, and SignalIn2 and SignalIn2- are filtered and current-limited by capacitors C21, C22, and C23 and resistors R47, R49, and R50 to remove high noise and protect the amplifier.

[0065] In this embodiment, the differential amplifier uses an AD8222 differential amplifier, which receives two sets of myoelectric signals SignalIn1 and SignalIn2 through the signal input pins +IN1 and +IN2, amplifies the differential part of the two signals, and then outputs the amplified differential signal through two output pins OUT1 and OUT2. In the AD8222 differential amplifier, pins REF1 and REF2 are used to input reference voltage. Pins RG1 and RG2 are resistors for setting gain. The gain of the differential amplifier can be calculated by formula (1), where G is the gain, R G is the resistance value of the external resistor. G It is 499Ω, that is, the amplification factor is about 100 times.

[0066]

[0067] The gains obtained using 1% resistors are shown in Table 2.

[0068] Table 2

[0069]

[0070]

[0071] In this embodiment, the AD8222 differential amplifier can effectively amplify weak electromyographic signals, while reducing information loss during transmission, effectively reducing common mode noise, and enhancing signal quality.

[0072] Further, in one embodiment, if Figure 5 As shown in FIG. 1 , the filter circuit of the amplifying and filtering module is used, and two identical filter circuits are used to filter the amplified electromyographic signals SignalIn1 and SignalIn2 outputted from the output pins OUT1 and OUT2, respectively. The filter circuit includes two reverse amplifiers and peripheral components.

[0073] Taking the amplified electromyographic signal SignalIn1 as an example, it is coupled to the inverting input terminal (pin 2) of the first reverse amplifier U1.1 through resistors R15, R16 and capacitor C40, and the non-inverting input terminal (pin 3) of the first reverse amplifier U1.1 is grounded. Capacitors C41 and C38 are used for power supply decoupling to filter out power supply noise. The first reverse amplifier U1.1 outputs a signal from the output terminal (pin 1), part of which is directly input to the second reverse amplifier U1.2, and the other part is compensated by capacitor C34. Of the signal output from the first reverse amplifier, part is directly input to the inverting input terminal (pin 6) of the second reverse amplifier, and the other part is coupled with the signal output from the output terminal (pin 7) of the second reverse amplifier U1.2 after compensation, to obtain the amplified and filtered electromyographic signal, which is output from out1. Resistors R13 and R12 form a feedback network, which determines the gain of the second reverse amplifier U1.2. The amplified electromyographic signal SignalIn2 uses the same filtering circuit, and the process is not repeated here.

[0074] In this embodiment, the filter circuit includes two independent inverting amplifiers, each amplifier has its own input signal and output signal. The gain of each inverting amplifier is determined by its feedback resistor, and the input and output are coupled through capacitors to ensure signal stability and filter out high-frequency noise. The filter circuit can further improve the signal quality, specifically used to suppress high-frequency noise and 50Hz power frequency interference, effectively remove electromagnetic noise and other interference signals in the environment, and make the electromyographic signal purer.

[0075] In a second aspect, an embodiment of the present application provides a rehabilitation system based on the above-mentioned mirror image upper limb auxiliary rehabilitation device.

[0076] In one embodiment, referring to Figure 6 , is a block diagram of the mirror image upper limb assisted rehabilitation system of this application. Figure 6 As shown, the rehabilitation system includes a mirrored upper limb auxiliary rehabilitation device, a rehabilitation platform and a user terminal.

[0077] The rehabilitation platform includes a human-computer interaction module, and in this embodiment, the human-computer interaction module can be a touch screen. The rehabilitation platform generates a rehabilitation plan through the instructions received by the human-computer interaction module, and sends the rehabilitation plan to the user end. Figure 1 and Figure 6 As shown, the rehabilitation platform is also used to receive the electromyographic signals transmitted from the affected-side control chip 21 in the mirror upper-limb auxiliary rehabilitation device, and display them to medical staff through the human-computer interaction module; the rehabilitation platform is also used to receive the healthy-side upper limb posture data transmitted from the healthy-side control chip 11, and compare it with the baseline posture data of the action in the rehabilitation plan, and send the adjustment amount to the user end according to the difference obtained. The difference obtained makes it convenient for medical staff to know whether the actions in the patient's rehabilitation plan are standard, and it is also used to.

[0078] The user terminal is used to receive the rehabilitation plan sent by the rehabilitation platform. The user terminal can be installed in the user terminal device and displayed through the display module of the user terminal device. The rehabilitation plan sent by the rehabilitation platform can also be displayed. The adjustment amount sent by the rehabilitation platform can be convenient for the patient to adjust the posture. Further, the adjustment amount can include the angle to be adjusted. The user terminal device can be a smart device such as a mobile phone or a tablet computer.

[0079] In a third aspect, the present application provides a rehabilitation method based on the above-mentioned rehabilitation system, such as Figure 7 As shown, the rehabilitation method includes:

[0080] S1: The rehabilitation platform receives instructions from medical staff to generate a rehabilitation plan and sends it to the user.

[0081] S2: The patient wears the mirrored upper limb auxiliary rehabilitation device, and the healthy upper limb performs movements according to the rehabilitation plan of the user. At the same time, the healthy sensors 12 at different parts of the healthy upper limb collect motion signals. The healthy control chip 11 obtains the posture of the healthy upper limb according to the motion signal, transmits the posture of the healthy upper limb to the external rehabilitation platform, and mirrors the posture of the healthy upper limb and transmits it to the affected control chip 21.

[0082] The angle sensor of the healthy exoskeleton 1 captures the angle change of the healthy upper limb joint, and records the acceleration data of the healthy upper limb during movement according to the three-dimensional acceleration sensor. The captured angle change and acceleration data need to be processed by the healthy control chip 11 through an algorithm before they can be converted into actual posture recognition information to achieve the purpose of recognizing the posture of the healthy upper limb.

[0083] Specifically, first, the healthy side control chip 11 performs data preprocessing, and removes accidental errors and noise in the data transmitted by the sensor through filtering and denoising. Then, the healthy side control chip 11 performs acceleration decomposition and angle calculation, and decomposes the acceleration data into gravity acceleration components and dynamic acceleration components to distinguish the acceleration generated by gravity and body movement. The specific rotation angle of the joint is calculated according to the data of the angle sensor. Finally, the healthy side control chip 11 uses an algorithm to further process the data so that it can be converted into an action that can be executed by the affected upper limb. The algorithm can be designed using existing functions according to different needs. The algorithm involves simple coordinate and angle inversion to ensure that the action is correctly mirrored in space and convert the collected healthy side action data into a control signal for the motor. This includes the mapping of angles to motor control parameters, and how to smoothly perform these actions to avoid harming the patient.

[0084] S3: The affected-side control chip 21 receives the mirror posture of the healthy-side exoskeleton, controls the driving component 22 to drive the affected-side exoskeleton 2 to drive the affected-side upper limb to achieve the mirror posture, and at the same time, multiple electromyographic sensors 23 collect multiple groups of electromyographic signals of different muscle groups of the affected-side upper limb in real time and transmit them to the rehabilitation platform.

[0085] S4: The rehabilitation platform displays the electromyographic signal through a human-computer interaction module, which may be displayed in the form of data or waveform, so that medical staff can adjust the rehabilitation plan.

[0086] Furthermore, after the patient in S2 wears the mirror upper limb auxiliary rehabilitation equipment, before the healthy upper limb makes a movement, multiple electromyographic sensors 23 on the affected side collect the electromyographic signals of different muscle groups of the affected upper limb before rehabilitation, and transmit them to the rehabilitation platform as a reference. After the rehabilitation is completed, the affected upper limb attempts autonomous movement, and at the same time, multiple electromyographic sensors 23 collect the electromyographic signals of different muscle groups of the affected upper limb and transmit them to the rehabilitation platform. The rehabilitation platform compares the electromyographic signals of different muscle groups during autonomous movement with the electromyographic signals of the affected upper limb before rehabilitation, and provides a rehabilitation effect evaluation. Medical staff can conduct comparative analysis based on the electromechanical signals before and after rehabilitation, and then evaluate the rehabilitation effect of the rehabilitation training movements. If necessary, they can refer to the rehabilitation effect to formulate the next rehabilitation plan.

[0087] Furthermore, the above steps also include: the rehabilitation platform receives the healthy side upper limb posture data sent by the healthy side control chip, analyzes the difference between the healthy side upper limb posture and the baseline posture data of the action in the rehabilitation plan, and sends the information that needs to be adjusted to the user end. The patient makes adjustments based on the information that needs to be adjusted to ensure the accuracy and effectiveness of the rehabilitation action.

[0088] In the above rehabilitation method, the patient can feel the affected upper limb at any time. When feeling uncomfortable, the patient can adjust the posture of the healthy upper limb slightly by himself, thereby driving the change of the affected upper limb, and realizing a one-to-one rehabilitation process according to the different conditions of each patient. In addition, all kinds of data collected from the healthy upper limb and the affected upper limb are sent to the rehabilitation platform. In this way, the effect of rehabilitation can be seen more intuitively by medical staff and patients, which helps medical staff to make further diagnosis, design and adjust rehabilitation training programs, and also helps to enhance patients' awareness and confidence in rehabilitation.

[0089] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0090] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0091] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0092] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0093] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0094] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0095] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A mirror image upper limb auxiliary rehabilitation device, characterized in that: The device comprises: The healthy side exoskeleton is equipped with a healthy side control chip and multiple healthy side sensors. The multiple healthy side sensors are used to collect motion signals from different parts of the healthy side upper limb. The healthy side control chip is used to obtain the posture of the healthy side upper limb according to the motion signals, transmit them to the external rehabilitation platform and perform mirror copying; The affected-side exoskeleton is equipped with an affected-side control chip, a driving component, and a plurality of myoelectric sensors. The affected-side control chip is used to receive the mirror posture of the healthy-side exoskeleton, and controls the driving component to drive the affected-side exoskeleton to drive the affected-side upper limb to follow the healthy-side upper limb in real time to achieve the mirror posture. The plurality of myoelectric sensors are used to collect myoelectric signals of different muscle groups of the affected-side upper limb in real time and transmit them to the external rehabilitation platform; The connecting part can be worn on the patient and is used to connect the healthy side exoskeleton and the affected side exoskeleton.

2. The mirror image upper limb auxiliary rehabilitation device according to claim 1, characterized in that: The affected-side exoskeleton is also equipped with multiple pressure sensors, which are used to sense the real-time pressure of the affected-side exoskeleton on different parts of the affected-side upper limb. When the real-time pressure of any pressure sensor is greater than the corresponding preset pressure threshold, the driving component of the affected-side exoskeleton stops driving.

3. The mirror image upper limb auxiliary rehabilitation device according to claim 1, characterized in that: The electromyographic sensor is a high-precision array differential electromyographic sensor, which includes: The signal acquisition module is made of a flexible circuit board and is used to collect multiple groups of myoelectric signals of a muscle group in the affected upper limb; A plurality of amplifying and filtering modules are used to amplify and filter the electromyographic signals collected by the signal collecting module, and each amplifying and filtering module processes two groups of electromyographic signals; The data processing module is used to perform analog-to-digital conversion on the amplified and filtered electromyographic signals, and is also used to transmit the converted signals to the outside.

4. The mirror image upper limb auxiliary rehabilitation device as claimed in claim 3, characterized in that: The amplification and filtering module includes a differential amplifier and two inverting amplifiers; The differential amplifier is used to receive two groups of electromyographic signals through the signal input pin, amplify the differential part of the two groups of signals and then output; The two groups of signals output by the differential amplifier are coupled through a capacitor and a resistor and then input into the inverting input terminal of the first inverting amplifier. A part of the signal output by the first inverting amplifier is directly input into the second inverting amplifier, and the other part is coupled with the signal output by the second inverting amplifier after compensation to obtain an amplified and filtered electromyographic signal.

5. The mirror image upper limb auxiliary rehabilitation device as claimed in claim 4, characterized in that: The multiple healthy side sensors include three-dimensional acceleration sensors and angle sensors, and the multiple angle sensors are distributed at the upper limb joints.

6. A rehabilitation system based on the mirror image upper limb auxiliary rehabilitation device according to any one of claims 1 to 5, characterized in that: The system includes a mirrored upper limb auxiliary rehabilitation device, a rehabilitation platform and a user terminal; The rehabilitation platform includes a human-computer interaction module, which is used to generate a rehabilitation plan through the instructions received by the human-computer interaction module and send it to the user end; the rehabilitation platform is also used to receive the electromyographic signal transmitted from the affected side control chip in the mirror upper limb auxiliary rehabilitation device, and display it through the human-computer interaction module, and the rehabilitation platform is also used to receive the healthy side upper limb posture data transmitted from the healthy side control chip, and compare it with the baseline posture data of the action in the rehabilitation plan; The user terminal is used to receive the rehabilitation plan sent by the rehabilitation platform and display it through the display module.

7. A rehabilitation method based on the rehabilitation system according to claim 6, characterized in that: The method comprises: The rehabilitation platform receives the instruction, generates a rehabilitation plan and sends it to the user end; The patient wears the mirror upper limb auxiliary rehabilitation device, and the healthy upper limb performs movements according to the rehabilitation plan of the user end. At the same time, the healthy sensors at different parts of the healthy upper limb collect motion signals, and the healthy control chip obtains the posture of the healthy upper limb according to the motion signal, and transmits it to the affected control chip in a mirror copy; The affected-side control chip receives the mirror image posture of the healthy-side exoskeleton, controls the driving component to drive the affected-side exoskeleton to drive the affected-side upper limb to achieve the mirror image posture, and at the same time, multiple electromyographic sensors collect electromyographic signals of different muscle groups of the affected-side upper limb in real time and transmit them to the rehabilitation platform; The rehabilitation platform displays the electromyographic signal through a human-computer interaction module so that medical staff can adjust the rehabilitation plan.

8. The rehabilitation method of the rehabilitation system according to claim 7, characterized in that: The patient wears the mirror upper limb auxiliary rehabilitation device. Before the healthy upper limb makes a movement, multiple electromyographic sensors collect the electromyographic signals of different muscle groups of the affected upper limb before rehabilitation and transmit them to the rehabilitation platform as a reference.

9. The rehabilitation method of the rehabilitation system according to claim 8, characterized in that: After rehabilitation, the affected upper limb attempts autonomous movement, and multiple electromyographic sensors collect electromyographic signals of different muscle groups of the affected upper limb and transmit them to the rehabilitation platform; the rehabilitation platform compares the electromyographic signals of different muscle groups during autonomous movement with the electromyographic signals of the affected upper limb before rehabilitation to provide rehabilitation effect evaluation.

10. The rehabilitation method of the rehabilitation system according to claim 7, characterized in that: The rehabilitation platform receives the healthy upper limb posture data sent by the healthy upper limb control chip, analyzes the difference between the healthy upper limb posture and the reference posture data of the action in the rehabilitation program, and sends the information that needs to be adjusted to the user end.

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