Limb rehabilitation training method integrating surface myoelectricity monitoring and eye movement monitoring

Abstract

The invention relates to a limb rehabilitation training method fusing surface myoelectricity monitoring and eye movement monitoring, in the method, myoelectricity signals are used as signal sources of a to-be-trained limb in a rehabilitation training form, the myoelectricity signals and eye movement signals are jointly used as collection targets of a rehabilitation training device, and the limb tail end coordinate x of the trained limb is used as a signal source of the to-be-trained limb. The value of y comes from myoelectricity collection and eye movement collection, the muscle action intention and intensity of the trained limbs are judged through comprehensive consideration of myoelectricity collection and eye movement collection, finally, assistance training of the rehabilitation training device on the limb actions is achieved, and the movement intention of the trained personnel can be accurately recognized after eye movement signal collection is combined.

Description

Technical Field

[0001] The present invention relates to the field of limb rehabilitation training, and in particular to a limb rehabilitation training method integrating surface electromyography monitoring and eye movement monitoring. Background Art

[0002] Patients with neuromuscular injuries, stroke or other motor coordination impairments need to use rehabilitation training devices to perform limb rehabilitation training.

[0003] Existing rehabilitation training methods, such as the "A rehabilitation method for stroke patients based on movement intention recognition model" disclosed in Chinese patent CN115024735A, rely on a rehabilitation training device, which includes a training arm with multiple degrees of freedom. The training arm is provided with an electromyography acquisition sensor for collecting electromyography signals of the trainee's limbs. When in use, the limb to be trained (upper limb or lower limb) is connected to the training arm, and the electromyography acquisition sensor collects the electromyography signals of the trainee to judge the trainee's movement intention. Then, the rehabilitation training device drives the training arm according to the trainee's training intention to assist in completing the patient's limb rehabilitation movement, which is repeated multiple times to complete the patient's rehabilitation training.

[0004] The problem with the existing rehabilitation training method is that in the prior art, the signal source of the training personnel's movement intention recognition device is mainly based on electromyographic signals. Electromyographic signals are easily interfered during the collection process, and their signal characteristics vary greatly among different populations, making it difficult to make accurate judgments. Summary of the invention

[0005] The purpose of the present invention is to provide a limb rehabilitation training method integrating surface electromyography monitoring and eye movement monitoring, so as to solve the technical problem of limited accuracy in the prior art of only relying on electromyography signals to identify the training personnel's movement intention.

[0006] In order to solve the above technical problems, the present invention provides a limb rehabilitation training method integrating surface electromyography monitoring and eye movement monitoring as follows:

[0007] A limb rehabilitation training method integrating surface electromyography monitoring and eye movement monitoring, using an electromyography acquisition sensor of a rehabilitation training device to collect electromyography signals of a trainee's limb to be trained, specifically, the electromyography acquisition sensor collects electromyography values ​​of a muscle A of the trainee's limb to be trained that moves horizontally in the left and right directions as A1 and A2, and the electromyography acquisition sensor collects electromyography values ​​of a muscle B of the trainee's limb to be trained that moves in the up and down directions as B1 and B2;

[0008] The eye movement monitoring device of the rehabilitation training device is used to collect the eye signals of the trainee, and the eye coordinates obtained by the eye movement monitoring device are plane-processed into x1, y1 in the first coordinate system; x1, y1 are region-transformed and quantized into a variable f of [-8, +8];

[0009] The rehabilitation training device drives the trainee to perform the limb movements to be trained, and the coordinates of the limb end in the second coordinate system are x, y, where x = (A1-A2) / 150*|f| / 8*450*T

[0010] y=(B1-B2) / 150*f / 8*450

[0011] The second coordinate system is perpendicular to the horizontal direction.

[0012] Where: If ((|f|-4)>0) T=1, otherwise T=-1.

[0013] Furthermore, the limb to be trained is an upper limb or a lower limb.

[0014] Furthermore, x1 and y1 are regionally transformed and quantized into the variable f of [-8, +8] in the following manner: in the first coordinate system, the eye center of the trainee is taken as the planarization processing center, an inner ellipse and an outer ellipse are concentrically arranged, and eight radially distributed dividing lines are arranged with the planarization processing center as the center of the circle. The dividing lines are evenly spaced along the planarization processing center, and the dividing lines divide the inner ellipse and the outer ellipse into 16 regions, namely, 1, 2, 3, 4, 5, 6, 7, 8 and -1, -2, -3, -4, -5, -6, -7 and -8.

[0015] Furthermore, the radius of the major axis of the inner ellipse is half of the radius of the major axis of the outer ellipse, and the radius of the minor axis of the inner ellipse is half of the radius of the minor axis of the outer ellipse.

[0016] Furthermore, the first coordinate system is perpendicular to the front-rear direction.

[0017] Furthermore, the origin of the second coordinate system is located on the right side or the left side of the connection position between the proximal end of the limb to be trained and the trunk.

[0018] The beneficial effects of the present invention are as follows: in the present invention, electromyographic signals are not entirely used as the signal source for the rehabilitation training status of the training limb. Electromyographic signals and eye movement signals are jointly collected by the rehabilitation training device. The values ​​of the limb end coordinates x and y of the training limb are derived from electromyographic collection and eye movement collection. The muscle movement intention and intensity of the training limb are judged through comprehensive consideration of electromyographic collection and eye movement collection, and finally the rehabilitation training device is used to assist the limb movement training. After combining with the eye movement signal collection, the training personnel's movement intention can be accurately identified. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0020] Figure 1 is a schematic diagram of the principle of a rehabilitation training device in one embodiment of the limb rehabilitation training method of the present invention;

[0021] Figure 2 is a display state diagram of the inner ellipse and the outer ellipse in the present invention;

[0022] Figure 3 It is a schematic diagram of the position of the second coordinate system relative to the training personnel in the present invention;

[0023] 1. Rehabilitation training robot; 2. Controller; 3. Myoelectric monitoring device; 4. Eye movement monitoring device; 11. Separation line; 12. Inner ellipse; 13. Outer ellipse; 14. Trainer; 15. Limb to be trained; 16. Second coordinate system; 17. Palm. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0025] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0026] The implementation of a limb rehabilitation training method integrating surface electromyography monitoring and eye movement monitoring in the present invention is as follows: Figures 1 to 3 As shown:

[0027] The myoelectric acquisition sensor of the rehabilitation training device 1 is used to collect the myoelectric signals of the limb to be trained of the trainee. Specifically, the myoelectric acquisition sensor collects the myoelectric values ​​of the muscle A of the limb to be trained that moves horizontally in the left and right directions as A1 and A2, and the myoelectric acquisition sensor collects the myoelectric values ​​of the muscle B of the limb to be trained that moves vertically as B1 and B2; Figure 1 The middle item 2 represents the controller, and the electromyographic acquisition sensor is a part of the electromyographic monitoring device 3.

[0028] The eye movement monitoring device of the rehabilitation training device is used to collect the eye signals of the trainee, and the eye coordinates obtained by the eye movement monitoring device 4 are planarized into x1, y1 in the first coordinate system; x1, y1 are regionally transformed and quantized into a variable f of [-8, +8]; the eye movement monitoring device itself belongs to the existing technology, which can monitor the movement direction and trajectory of the eyeball.

[0029] The rehabilitation training device drives the trainee's limb 15 to be trained to move, and the coordinates of the limb end in the second coordinate system are x, y, where x = (A1-A2) / 150*|f| / 8*450*T

[0030] y=(B1-B2) / 150*f / 8*450

[0031] The second coordinate system is perpendicular to the horizontal direction.

[0032] Where: If ((|f|-4)>0) T=1, otherwise T=-1. In this embodiment, the extremity refers to the palm 17. When the training limb is the lower limb, the extremity refers to the sole of the foot.

[0033] The rehabilitation training device includes a rehabilitation training robot 1 and an eye movement monitoring device 4. The rehabilitation training robot includes a training arm and an electromyographic monitoring device. The structure of the rehabilitation training robot belongs to the prior art. Taking upper limb training as an example, when in use, the upper arm and palm of the trainee's upper limb can be connected to the training arm. The electromyographic monitoring device is used to monitor the muscle contraction intention and strength of the trainee's upper arm muscles. It includes a first electrode for monitoring horizontal movement of muscle A and a second motor for monitoring vertical movement of muscle B. The two electrodes of the first electrode can collect the electromyographic value of muscle A, and the two motors of the second motor can collect the electromyographic value of muscle B. In this embodiment, the trainee is defined to face forward, and horizontal movement refers to left and right movement.

[0034] The specific method of performing regional transformation on x1 and y1 and quantizing the variable f to [-8, +8] is as follows: Figure 2As shown, in the first coordinate system, the center of the trainee's eye is taken as the planarization processing center, and an inner ellipse 12 and an outer ellipse 13 are concentrically arranged. The outer ellipse 13 represents the maximum circumferential motion trajectory of the trainee's eyeball, which is consistent with the size of the trainee's eye. Eight radially distributed dividing lines 11 are arranged with the planarization processing center as the center of the circle. The dividing lines are evenly spaced along the planarization processing center, and the dividing lines divide the inner ellipse and the outer ellipse into 1, 2, 3, 4, 5, 6, 7, 8 and -1, -2, -3, -4, -5, -6, -7 and -8, a total of 16 areas. In general, the upper side of the eye center is a positive area, the lower side of the eye center is a negative area, the inner ellipse on the upper side of the eye center is sequentially divided into 1, 3, 5, 7 areas, and the outer ellipse on the upper side of the eye center is sequentially divided into 2, 4, 6, 8 areas; the inner ellipse on the lower side of the eye center is sequentially divided into -1, -3, -5, -7 areas, and the outer ellipse on the lower side of the eye center is sequentially divided into -2, -4, -6, -8 areas. In order to facilitate the area conversion, preferably, the first coordinate system is perpendicular to the front-back direction.

[0035] The direction of the major axis of the inner ellipse is consistent with that of the outer ellipse, the radius of the major axis of the inner ellipse is half of the radius of the major axis of the outer ellipse, and the radius of the minor axis of the inner ellipse is half of the radius of the minor axis of the outer ellipse.

[0036] The second coordinate system 16 is perpendicular to the horizontal direction and the left-right direction. Preferably, the origin of the second coordinate system is located just to the right of the connection position between the proximal end of the limb to be trained and the trunk. The proximal end of the training limb refers to the end of the training limb close to the trunk. For example, in this embodiment, the proximal end refers to the end where the upper arm is connected to the trunk.

[0037] In other embodiments of the present invention, in order to ensure the accurate consistency between the trainee's movement intention and the eye movement direction, the trainee can be trained on the consistency of movement intention and eye movement before using the rehabilitation training device for rehabilitation training. For example, the trainee is asked to keep the eyeball moving in the corresponding direction when the limbs move in a certain direction. Through this training, the consistency between the eye movement direction and the trainee's movement intention is maintained. Of course, even without this consistency training, in the natural reaction of the human body, the direction of limb movement and the direction of eye movement are also likely to be consistent.

[0038] In the above description of this specification, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected" or "connected" should be understood in a broad sense. For example, with regard to the term "connection", it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. Therefore, unless otherwise clearly defined in this specification, those skilled in the art can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0039] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate the orientation or position relationship, are based on the orientation or position relationship shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or position relationship terms cannot be understood or interpreted as limitations on the scheme of the present invention.

[0040] In addition, the terms "first" or "second" used in this specification to refer to numbers or ordinals are only used for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, the meaning of "plurality" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A limb rehabilitation training method integrating surface electromyography monitoring and eye movement monitoring, characterized in that: The electromyographic acquisition sensor of the rehabilitation training device is used to collect the electromyographic signals of the limb to be trained of the trainee. Specifically, the electromyographic acquisition sensor collects the electromyographic values ​​of the muscle A of the limb to be trained that moves horizontally in the left and right directions as A1 and A2, and the electromyographic acquisition sensor collects the electromyographic values ​​of the muscle B of the limb to be trained that moves vertically as B1 and B2; The eye movement monitoring device of the rehabilitation training device is used to collect the eye signals of the trainee, and the eye coordinates obtained by the eye movement monitoring device are plane-processed into x1, y1 in the first coordinate system; Perform region transformation on x1 and y1 and quantize them into variable f of [-8,+8]; The rehabilitation training device drives the trainee to perform the limb movements to be trained, and the coordinates of the limb end in the second coordinate system are x, y, where x = (A1-A2) / 150*|f| / 8*450*T y=(B1-B2) / 150*f / 8*450 The second coordinate system is perpendicular to the horizontal direction. Where: If ((|f|-4)>0) T=1, otherwise T=-1.

2. The limb rehabilitation training method according to claim 1, characterized in that: The limb to be trained is an upper limb or a lower limb.

3. The limb rehabilitation training method according to claim 1, characterized in that: The specific method of performing regional transformation on x1 and y1 and quantizing the variable f to [-8, +8] is as follows: in the first coordinate system, the eye center of the trainee is taken as the planarization processing center, and the inner ellipse and the outer ellipse are concentrically arranged. Eight radially distributed dividing lines are set with the planarization processing center as the center of the circle. The dividing lines are evenly spaced along the planarization processing center, and the dividing lines divide the inner ellipse and the outer ellipse into 16 areas, namely 1, 2, 3, 4, 5, 6, 7, 8 and -1, -2, -3, -4, -5, -6, -7 and -8.

4. The limb rehabilitation training method according to claim 3, characterized in that: The radius of the major axis of the inner ellipse is half the radius of the major axis of the outer ellipse, and the radius of the minor axis of the inner ellipse is half the radius of the minor axis of the outer ellipse.

5. The limb rehabilitation training method according to claim 1, characterized in that: The first coordinate system is perpendicular to the front-to-back direction.

6. The limb rehabilitation training method according to any one of claims 1 to 5, characterized in that: The origin of the second coordinate system is located just to the right or just to the left of the position where the proximal end of the limb to be trained is connected to the trunk.

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