Joint position sense rehabilitation training system and method based on virtual reality

Abstract

The invention discloses a joint position sense rehabilitation training system and method based on virtual reality, and belongs to the technical field of rehabilitation medicines.The system comprises a data analysis storage device, virtual reality glasses and a virtual reality handle, and the virtual reality glasses and the virtual reality handle both have a six-degree-of-freedom three-dimensional space positioning function; the virtual reality glasses and the virtual reality handle respectively acquire coordinate information and attitude information in a three-dimensional space in real time through a six-degree-of-freedom three-dimensional space positioning function, and the data analysis memory is in communication connection with the virtual reality glasses and the virtual reality handle. The data analysis storage is used for continuously receiving and storing the space coordinate information and the posture information from the virtual reality glasses and the virtual reality handle in real time, and the data analysis storage generates corresponding target joint position posture information according to a preset rehabilitation training target; the data analysis storage is based on the received spatial coordinate information and attitude information of the virtual reality handle.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medicine technology, and in particular to a joint position sense rehabilitation training system and method based on virtual reality. Background Technology

[0002] Position sense rehabilitation training is a rehabilitation treatment method for patients with position sense disorders caused by diseases or injuries. Position sense, or proprioception, is the human body's ability to perceive its own position and movement status. This training usually includes a variety of methods, such as joint range of motion training, which allows patients to repeatedly feel the position of joints at different angles to enhance their perception of joint position; using unstable support surfaces such as balance boards and foam mats to encourage patients to continuously adjust their center of gravity, thereby strengthening their perception and control of the positional relationships of different parts of the body; and using visual feedback to assist training, such as having patients practice limb movements in front of a mirror to compare the differences between visual and bodily perception and correct position sense deviations. This type of training helps improve patients' body coordination and balance, reduce the risk of falls and other accidents, and is of great significance for the rehabilitation of patients with nerve damage and musculoskeletal diseases, helping them to better return to daily life and work.

[0003] Existing technologies and traditional position sense training methods have many drawbacks. These methods are not very targeted in position sense training, the training methods are singular and general, and it is difficult to conduct personalized training based on the specific situation of different patients and the characteristics of position sense disorders, resulting in poor training effects. Most traditional training methods do not have visualized and precise data, making it difficult to quantify the precision of position sense training, accurately assess the patient's training progress and effects, and also hindering doctors from adjusting training plans based on data. Traditional training methods are relatively mechanical and boring, lacking interest and appeal, which makes it easy for patients to lose interest in training, thus affecting the continuity and effectiveness of training. Summary of the Invention

[0004] The purpose of this invention is to provide a joint position sense rehabilitation training system and method based on virtual reality, so as to solve the technical problems in the prior art where position sense training is not targeted, the training methods are singular and general, and the difficulty cannot be distinguished.

[0005] This invention provides a joint position awareness rehabilitation training system based on virtual reality. The system includes a data analysis and storage unit, virtual reality glasses, and virtual reality controllers. Both the virtual reality glasses and controllers possess six degrees of freedom (6DOF) three-dimensional spatial positioning capabilities. The virtual reality glasses and controllers acquire their coordinate and posture information in three-dimensional space in real time through their 6DOF three-dimensional spatial positioning capabilities. The data analysis and storage unit is communicatively connected to the virtual reality glasses and controllers. The data analysis and storage unit continuously receives and stores the spatial coordinate and posture information from the virtual reality glasses and controllers in real time. Based on preset rehabilitation training goals, the data analysis and storage unit generates corresponding target joint position and posture information. Based on the received spatial coordinate and posture information from the virtual reality controllers, the data analysis and storage unit inversely calculates the actual spatial position and posture of the target joint during user operation. The data analysis and storage unit compares the target joint position and posture information with the actual spatial position and posture information of the target joint to calculate a position deviation value. The virtual reality glasses display a virtual rehabilitation training scene based on the information generated and calculated by the data analysis and storage unit, target posture guidance, the user's actual operating posture, and visual feedback information related to the position deviation value. Virtual reality glasses and controllers acquire their own coordinates and posture information in three-dimensional space in real time using six degrees of freedom three-dimensional spatial positioning capabilities, and transmit this information to a data analysis and storage device. The data analysis and storage device continuously receives and stores this information, generates target joint position and posture information based on preset rehabilitation training goals, and then calculates the actual spatial position and posture of the target joint operated by the user based on the spatial coordinates and posture information of the virtual reality controller. It then compares the target joint position and posture information with the actual spatial position and posture information to calculate the position deviation value. Finally, based on the information generated and calculated by the data analysis and storage device, the virtual reality glasses display the rehabilitation training virtual scene, target posture guidance, user's actual operating posture, and visual feedback information related to the position deviation value, thereby assisting the user in joint position sense rehabilitation training.

[0006] Furthermore, the data analysis storage unit includes a data processing unit and a storage unit. The data processing unit is used to perform spatial coordinate information alignment, inversion calculation of the actual spatial position and posture of the target joint, and calculation of the difference between the target position and posture and the actual position and posture. The storage unit is used to store the raw coordinate data received from the virtual reality glasses and virtual reality controllers, intermediate data during the calculation process, the final calculated position deviation value, and the user's training history. As the core of the system, the data analysis storage unit is responsible for accurately performing spatial coordinate information alignment, inverting and calculating the actual spatial position and posture of the user's target joint based on the virtual reality controller data, and calculating the difference between the target position and posture and the actual position and posture. The storage unit comprehensively stores the raw coordinate data from the virtual reality glasses and controllers, intermediate data during the calculation process, the final position deviation value, and the user's training history, providing solid data support for training effect evaluation and personalized program development.

[0007] Furthermore, the virtual reality glasses are used to render and display in real-time a 3D model of the target posture representing a preset rehabilitation training goal in a virtual scene. The virtual reality glasses are also used to render and display in real-time a 3D model of the user posture representing the actual joint posture generated by the user based on the operation state of the virtual reality controllers. The virtual reality glasses are used to overlay and display visual cue markers in the virtual scene to intuitively indicate the magnitude and direction of the positional deviation between the user's actual operating posture and the target posture, and to display the calculated positional deviation value. Based on information provided by the data analysis storage, the virtual reality glasses render the 3D model of the target posture and the 3D model of the user posture generated based on the operation of the virtual reality controllers in real-time in the virtual scene. Simultaneously, visual cue markers are overlaid to intuitively display the magnitude and direction of the positional deviation between the user's actual operating posture and the target posture, and to present the positional deviation value, providing the user with real-time and intuitive visual feedback to assist in adjusting their operating posture and accurately performing rehabilitation training.

[0008] Furthermore, both the virtual reality glasses and the virtual reality controller employ electromagnetic positioning technology or infrared optical positioning technology to achieve the six-degree-of-freedom three-dimensional spatial positioning function. The data sampling frequency provided by the positioning technology is no less than 30Hz. The use of electromagnetic positioning or infrared optical positioning technology in the virtual reality glasses and controller to achieve six-degree-of-freedom three-dimensional spatial positioning with a data sampling frequency of no less than 30Hz ensures accurate and real-time positioning. This allows the system to accurately capture the user's operating posture, providing reliable data for data analysis, ensuring timely and accurate training feedback, and improving the effectiveness and experience of rehabilitation training.

[0009] Furthermore, the virtual reality controller includes a haptic feedback device. The data analysis and storage unit generates a haptic feedback control command and sends it to the virtual reality controller when the calculated positional deviation value exceeds a preset threshold or when the user completes a specific action. The haptic feedback device generates vibration or force feedback based on the received command, providing an additional deviation perception channel. When the positional deviation value calculated by the data analysis and storage unit exceeds a preset threshold or the user completes a specific action, the haptic feedback device of the virtual reality controller receives a haptic feedback control command from the storage unit and generates vibration or force feedback. This provides the user with an additional deviation perception channel, enhancing the user's ability to perceive positional deviation, allowing the user to more intuitively understand operational deviations, adjust actions in a timely manner, thereby improving the accuracy and effectiveness of rehabilitation training and accelerating the recovery of joint positional sense function.

[0010] Furthermore, the system also includes an audio output device communicatively connected to the data analysis and storage unit. The data analysis and storage unit generates audio prompts based on the calculated positional deviation value or training events and sends these prompts to the audio output device. The audio output device then plays prompts, voice guidance, or positional deviation-related audio feedback based on the received instructions. This communicative connection between the audio output device and the data analysis and storage unit, along with the audio prompts generated by the storage unit based on the positional deviation value or training events, provides auditory feedback to the user, enriching the feedback experience. This allows users to understand the training progress in a timely manner, in addition to visual and tactile feedback, further improving training accuracy and effectiveness, and enhancing the interactivity and enjoyment of rehabilitation training.

[0011] Furthermore, during training, the virtual reality controller is operated by the user and fixed near the target joint to be rehabilitated. The data analysis and storage unit, based on the spatial coordinates and posture information of the virtual reality controller and a preset human skeletal joint model, calculates the actual spatial position and joint angle of the target joint through spatial geometric transformation. During training, the virtual reality controller is fixed near the target joint. The data analysis and storage unit combines the controller's spatial coordinates, posture information, and the human skeletal joint model to calculate the actual spatial position and joint angle of the target joint through spatial geometric transformation. This method accurately obtains joint position and angle data, providing precise data for rehabilitation training, assisting doctors in developing personalized plans, significantly improving the targeting and effectiveness of rehabilitation training, and accelerating the recovery of joint function in patients.

[0012] A joint position sense rehabilitation training method based on virtual reality, comprising the following steps: Sp1: Set three training difficulty levels: beginner, intermediate and advanced. The distances between the virtual interface and the subject are a, b and c, respectively, where c=2b=3a. Each difficulty level's interface generates 9 randomly distributed target points. Sp2: Subjects start training at the beginner level. When the average score of the 9 targets in a single training session is ≥80%, they are promoted to the intermediate level. Otherwise, they repeat the training at the current level. After passing the intermediate level, they enter the advanced level. When the average score of the 9 targets in the advanced level is ≥80%, the training ends. Sp3: Based on the target point A displayed on the virtual reality glasses and the controller image, the subject actively moves the controller to the position of target point A in three-dimensional space and marks it: Sp3-1: The system records the three-dimensional coordinates (x, y, y) of target point A. 0 ,y 0 ,z 0 Then turn off the screen display; Sp3-2: Subjects reset the handle to their perceived target point A position based on proprioception without visual feedback. Sp3-3: The system records the three-dimensional coordinates (x, y, y) of reset point B. 1 ,y 1 ,z 1 And redisplay the interface; Sp4: Real-time calculation of the spatial Euclidean distance between target point A and reset point B: d= The interface visually displays the positional difference between two points, where x... 1 y 1 and z 1 To reset the three-dimensional coordinates of point B, x 0 y 0 and z 0 Let be the three-dimensional coordinates of target point A, and d be the spatial Euclidean distance between target point A and reset point B. Sp5: Repeat steps Sp3-Sp4 to complete the training process for 9 targets at the current difficulty level; Sp6: Based on the spatial error values ​​{d1…d9} of 9 sets of coordinate pairs (A,B), a position sense score is generated through a preset algorithm.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: Firstly, this invention employs a virtual reality controller fixed near the target joint during training. Based on the controller's spatial coordinates and posture information, along with a pre-set human skeletal joint model, a data analysis and storage device precisely calculates the actual spatial position and joint angle of the target joint through spatial geometric transformation. Simultaneously, the data analysis and storage device generates corresponding target joint position and posture information according to the pre-set rehabilitation training goals, and calculates the position deviation value by comparing the target joint position and posture information with the actual spatial position and posture information. This approach provides precise training goals and feedback tailored to the individual differences and rehabilitation stages of different patients. It solves the problems of traditional training methods, such as weak targeting of position sense training, monotonous and general training methods, and inability to differentiate difficulty levels. This provides patients with personalized and precise rehabilitation training programs, meeting the training needs of different patients at different rehabilitation stages.

[0014] Secondly, this invention utilizes virtual reality glasses to render and display in real-time a 3D model of the target posture representing the preset rehabilitation training goal and a 3D model of the user posture representing the user's actual operating posture in a virtual scene. Simultaneously, visual cues and positional deviation values ​​are overlaid. A data analysis storage unit continuously receives and stores spatial coordinate and posture information from the virtual reality glasses and controllers, providing visualized and precise data, including raw coordinate data, intermediate data, and the final calculated positional deviation value. This data not only provides patients with intuitive visual feedback but also provides doctors with a quantitative basis for evaluating training effectiveness and developing personalized training plans. It solves the problem that traditional training methods often lack visualized and precise data and struggle to quantify the precision of positional awareness training. This allows patients to clearly understand the gap between their own operation and the rehabilitation goal, enabling more precise rehabilitation training and improved training effectiveness.

[0015] Thirdly, this invention integrates the visual feedback of virtual reality glasses, the haptic feedback device of virtual reality controllers, and the sound feedback of audio output devices to create an immersive, multimodal rehabilitation training experience for patients. The virtual reality glasses provide patients with a vivid visual experience through real-time rendered virtual scenes and visual cues; the haptic feedback device of the virtual reality controllers provides vibration or force feedback when the positional deviation value exceeds a preset threshold or when a specific action is completed, enhancing the patient's perception; the audio output device generates sound prompts based on the positional deviation value or training events, playing prompts, voice guidance, or sound feedback related to positional deviation, further enriching the patient's sensory experience. This multimodal feedback mechanism makes the rehabilitation training process less monotonous and boring, effectively improving the patient's enthusiasm and compliance, solving the problems of traditional training methods being relatively mechanical and boring, and patients easily losing interest in training, making rehabilitation training more vivid and interesting, promoting the rehabilitation process, and improving the patient's quality of life. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is an architecture diagram of a virtual reality-based joint positional awareness rehabilitation training system. Figure 2 Flowchart for setting the difficulty level of a virtual reality-based joint positional awareness rehabilitation training system; Figure 3 This is the main processing flowchart of a virtual reality-based joint positional awareness rehabilitation training system. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] The components of the embodiments of the invention described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0020] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Specific Implementation Example 1: The following combination Figures 1 to 3As shown, this embodiment of the invention provides a joint position awareness rehabilitation training system based on virtual reality. The system includes a data analysis and storage unit, virtual reality glasses, and a virtual reality controller. Both the virtual reality glasses and the virtual reality controller possess six degrees of freedom (6DOF) three-dimensional spatial positioning capabilities. The virtual reality glasses and the virtual reality controller acquire their coordinate and posture information in three-dimensional space in real time through their 6DOF three-dimensional spatial positioning capabilities. The data analysis and storage unit is communicatively connected to the virtual reality glasses and the virtual reality controller. The data analysis and storage unit continuously receives and stores spatial coordinate and posture information from the virtual reality glasses and the virtual reality controller in real time. Based on preset rehabilitation training goals, the data analysis and storage unit generates corresponding target joint position and posture information. Based on the received spatial coordinate and posture information from the virtual reality controller, the data analysis and storage unit inversely calculates the actual spatial position and posture of the target joint operated by the user. The data analysis and storage unit compares the target joint position and posture information with the actual spatial position and posture information of the target joint to calculate the position deviation value. The virtual reality glasses display a virtual rehabilitation training scene based on the information generated and calculated by the data analysis and storage unit, target posture guidance, the user's actual operating posture, and visual feedback information related to the position deviation value. Virtual reality glasses and controllers, utilizing six degrees of freedom (DOF) 3D spatial positioning, acquire their own coordinates and posture information in 3D space in real time and transmit it to a data analysis and storage device. This device continuously receives and stores this information, generating target joint position and posture information based on preset rehabilitation training goals. Then, based on the spatial coordinates and posture information of the virtual reality controllers, it calculates the actual spatial position and posture of the target joint during user operation. It then compares the target joint position and posture information with the actual spatial position and posture information to calculate the position deviation value. Finally, based on the information generated and calculated by the data analysis and storage device, the virtual reality glasses display a virtual rehabilitation training scene, target posture guidance, the user's actual operating posture, and visual feedback information related to the position deviation value, thereby assisting the user in joint position awareness rehabilitation training. The system utilizes the six-degree-of-freedom 3D spatial positioning capabilities of virtual reality glasses and controllers to acquire and transmit spatial coordinates and posture information to a data analysis and storage unit in real time. This enables precise data acquisition. The data analysis and storage unit generates target joint position and posture information based on preset rehabilitation training goals, inversely calculates the actual spatial position and posture of the target joint during the user's actual operation, and calculates the position deviation value. The virtual reality glasses then display a virtual rehabilitation training scene, target posture guidance, the user's actual operating posture, and visual feedback information related to the position deviation value based on this information. This provides the user with intuitive and real-time feedback, helping them accurately perceive joint position and posture deviations. Consequently, it effectively improves the targeting, accuracy, and effectiveness of joint position sense rehabilitation training, promotes the recovery of the patient's joint position sense function, and enhances rehabilitation efficiency and quality.

[0022] Specifically, the data analysis storage unit includes a data processing unit and a storage unit. The data processing unit is used to perform spatial coordinate information alignment, inversion calculation of the actual spatial position and attitude of the target joint, and calculation of the difference between the target position and attitude and the actual position and attitude. The storage unit is used to store the raw coordinate data received from the virtual reality glasses and virtual reality controllers, intermediate data during the calculation process, the final calculated position deviation value, and the user's training history. As the core of the system, the data analysis and storage unit's data processing unit is responsible for accurately aligning spatial coordinate information. Based on the virtual reality controller data, it calculates the actual spatial position and posture of the user's target joint and the difference between the target position and posture and the actual position and posture. The storage unit comprehensively stores the original coordinate data from the virtual reality glasses and controllers, intermediate data during the calculation process, the final position deviation value, and the user's training history, providing solid data support for training effect evaluation and personalized plan development. The data analysis and storage unit's data processing unit accurately performs spatial coordinate alignment, target joint posture inversion, and difference calculation, providing accurate feedback for training. The storage unit comprehensively records the original data, intermediate data, position deviation value, and training history, helping doctors accurately evaluate training effects, develop personalized plans, significantly improve the pertinence and effectiveness of rehabilitation training, and accelerate the recovery of patients' joint position sense function.

[0023] Specifically, the virtual reality glasses are used to render and display in real time a 3D model of the target posture representing the preset rehabilitation training goal in a virtual scene; the virtual reality glasses are used to render and display in real time a 3D model of the user posture representing the actual joint posture generated by the user based on the operation state of the virtual reality controller in a virtual scene; and the virtual reality glasses are used to overlay and display visual cue marks in the virtual scene to intuitively indicate the magnitude and direction of the positional deviation between the user's actual operating posture and the target posture, as well as to display the calculated positional deviation value. Based on information provided by the data analysis storage device, the virtual reality glasses render a 3D model of the target posture and a 3D model of the user posture generated based on the operation of the virtual reality controller in real time within the virtual scene. Simultaneously, visual cues are overlaid to intuitively display the magnitude and direction of the positional deviation between the user's actual posture and the target posture, presenting the numerical result of the positional deviation. This provides users with real-time, intuitive visual feedback, assisting them in adjusting their posture and conducting precise rehabilitation training. By rendering the 3D models of the target and user postures in real time and overlaying visual cues and numerical results of the positional deviation, the virtual reality glasses provide users with intuitive and accurate visual feedback. This allows users to clearly understand the gap between their own operation and the rehabilitation goal, adjust their posture in a timely manner, enhance the pertinence and effectiveness of training, improve the fun and efficiency of rehabilitation training, and help patients better recover their joint positional sense function.

[0024] Specifically, both the virtual reality glasses and controllers employ electromagnetic or infrared optical positioning technology to achieve six-degrees-of-freedom (6DOF) three-dimensional spatial positioning, with a data sampling frequency of at least 30Hz. This ensures accurate and real-time positioning, enabling the system to precisely capture the user's posture, providing reliable data for analysis, guaranteeing timely and accurate training feedback, and improving the effectiveness and experience of rehabilitation training.

[0025] Specifically, the virtual reality controller includes a haptic feedback device. A data analysis and storage unit generates haptic feedback control commands and sends them to the virtual reality controller when the calculated positional deviation exceeds a preset threshold or when the user completes a specific action. The haptic feedback device then generates vibration or force feedback based on the received commands, providing an additional channel for deviation perception. When the positional deviation calculated by the data analysis and storage unit exceeds a preset threshold or when the user completes a specific action, the haptic feedback device receives haptic feedback control commands from the storage unit and generates vibration or force feedback. This provides the user with an additional channel for deviation perception, enhancing their ability to perceive positional deviations. This allows the user to more intuitively understand operational deviations, adjust movements promptly, thereby improving the accuracy and effectiveness of rehabilitation training and accelerating the recovery of joint positional sense function.

[0026] Specifically, the system also includes an audio output device that is communicatively connected to a data analysis and storage unit. The data analysis and storage unit generates audio prompts based on calculated positional deviation values ​​or training events and sends these prompts to the audio output device. The audio output device then plays prompts, voice guidance, or positional deviation-related audio feedback based on the received instructions. This communication between the audio output device and the data analysis and storage unit, and the playback of prompts, voice guidance, or positional deviation-related audio feedback based on the audio prompts generated by the storage unit based on positional deviation values ​​or training events, provides users with auditory feedback, enriching the feedback experience. This allows users to understand their training progress in a timely manner, in addition to visual and tactile feedback, further improving training accuracy and effectiveness, and enhancing the interactivity and enjoyment of rehabilitation training.

[0027] Specifically, during training, the virtual reality controller is operated by the user and fixed near the target joint to be rehabilitated. The data analysis and storage unit, based on the spatial coordinates and posture information of the virtual reality controller and a pre-set human skeletal joint model, calculates the actual spatial position and joint angle of the target joint through spatial geometric transformation. In training, the virtual reality controller is fixed near the target joint, and the data analysis and storage unit, combining the controller's spatial coordinates, posture information, and the human skeletal joint model, calculates the actual spatial position and joint angle of the target joint through spatial geometric transformation. This method accurately obtains joint position and angle data, providing precise data for rehabilitation training, assisting doctors in developing personalized plans, significantly improving the targeting and effectiveness of rehabilitation training, and accelerating the recovery of joint function in patients.

[0028] The working principle of this embodiment: In this invention, the virtual reality glasses and controllers acquire their coordinates and posture information in three-dimensional space in real time using six-degree-of-freedom three-dimensional spatial positioning capabilities, and transmit this information to a data analysis and storage unit. The data analysis and storage unit continuously receives and stores this information, generates target joint position and posture information based on preset rehabilitation training goals, and calculates the actual spatial position and posture of the target joint operated by the user based on data inversion from the virtual reality controllers. It then compares the target joint position and posture information with the actual spatial position and posture information to calculate the position deviation value. Based on the information generated and calculated by the data analysis and storage unit, the virtual reality glasses render and display in real time visual feedback information in the virtual scene, including the target posture three-dimensional model, the user posture three-dimensional model, visual cues, and position deviation numerical results. Furthermore, the haptic feedback device of the virtual reality controllers and the system's audio output device provide tactile and auditory feedback to the user based on the haptic feedback control commands and sound cues generated by the data analysis and storage unit, respectively. This enhances the user's perception of position deviation, assists the user in accurately adjusting their operating posture, effectively improves the targeting, accuracy, and effectiveness of joint position sense rehabilitation training, promotes the recovery of the patient's joint position sense function, and improves rehabilitation efficiency and quality. Specific Implementation Example 2: A joint position sense rehabilitation training method based on virtual reality, comprising the following steps: Sp1: Set three training difficulty levels: beginner, intermediate and advanced. The distances between the virtual interface and the subject are a, b and c, respectively, where c=2b=3a. Each difficulty level's interface generates 9 randomly distributed target points. Sp2: Subjects start training at the beginner level. When the average score of the 9 targets in a single training session is ≥80%, they are promoted to the intermediate level. Otherwise, they repeat the training at the current level. After passing the intermediate level, they enter the advanced level. When the average score of the 9 targets in the advanced level is ≥80%, the training ends. Sp3: Based on the target point A displayed on the virtual reality glasses and the controller image, the subject actively moves the controller to the position of target point A in three-dimensional space and marks it: Sp3-1: The system records the three-dimensional coordinates (x, y, y) of target point A. 0 ,y 0 ,z 0 Then turn off the screen display; Sp3-2: Subjects reset the handle to their perceived target point A position based on proprioception without visual feedback. Sp3-3: The system records the three-dimensional coordinates (x, y, y) of reset point B. 1 ,y 1 ,z 1 And redisplay the interface; Sp4: Real-time calculation of the spatial Euclidean distance between target point A and reset point B: d= The interface visually displays the positional difference between two points, where x... 1 y 1 and z 1 To reset the three-dimensional coordinates of point B, x 0 y 0 and z 0 Let be the three-dimensional coordinates of target point A, and d be the spatial Euclidean distance between target point A and reset point B. Sp5: Repeat steps Sp3-Sp4 to complete the training process for 9 targets at the current difficulty level; Sp6: Based on the spatial error values ​​{d1…d9} of 9 sets of coordinate pairs (A,B), a position sense score is generated through a preset algorithm.

[0030] The working principle of this embodiment: In this invention, three training difficulty levels—beginner, intermediate, and advanced—are first set. The distances between the virtual interface and the subject at each difficulty level are a, b, and c, respectively, where c = 2b = 3a. Each difficulty level's interface generates nine randomly distributed target points. The subject starts training at the beginner level. When the average score of the nine target points in a single training session is ≥80%, the subject advances to the intermediate level. After successfully completing the intermediate level, the subject progresses to the advanced level. Training ends when the average score of the nine target points at the advanced level is ≥80%. During training, the subject actively moves the controller into three-dimensional space based on the target point A displayed on the virtual reality glasses and the controller image. The system marks the location of target point A, records its three-dimensional coordinates, and then turns off the screen. Without visual feedback, the subject uses proprioception to reset the handle to what they perceive as the target point A. The system records the three-dimensional coordinates of the reset point B and redisplays the interface. The system calculates the Euclidean distance between target point A and reset point B in real time and visualizes the difference between the two points on the interface. After repeating the training process for 9 target points at the current difficulty level, the spatial error values ​​of the 9 sets of coordinate pairs are converted into a position sense score through a preset algorithm. This quantitatively assesses the subject's joint position sense recovery and provides a scientific basis for rehabilitation training.

[0031] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A joint position sense rehabilitation training system based on virtual reality, characterized in that: The system includes a data analysis and storage unit, virtual reality (VR) glasses, and VR controllers. Both the VR glasses and controllers possess six degrees of freedom (6DOF) 3D spatial positioning capabilities. The VR glasses and controllers acquire their coordinate and posture information in 3D space in real time through their 6DOF 3D spatial positioning functions. The data analysis and storage unit is communicatively connected to the VR glasses and controllers. The data analysis and storage unit continuously receives and stores the spatial coordinate and posture information from the VR glasses and controllers in real time. Based on preset rehabilitation training goals, the data analysis and storage unit generates corresponding target joint position and posture information. Based on the received spatial coordinate and posture information from the VR controllers, the data analysis and storage unit inversely calculates the actual spatial position and posture of the target joint operated by the user. The data analysis and storage unit compares the target joint position and posture information with the actual spatial position and posture information of the target joint to calculate a position deviation value. The VR glasses display a virtual rehabilitation training scene based on the information generated and calculated by the data analysis and storage unit, target posture guidance, the user's actual operating posture, and visual feedback information related to the position deviation value.

2. The rehabilitation training system according to claim 1, characterized in that: The data analysis storage unit includes a data processing unit and a storage unit. The data processing unit is used to perform spatial coordinate information alignment, target joint actual spatial position and posture inversion calculation, and target position and posture difference calculation. The storage unit is used to store the raw coordinate data received from the virtual reality glasses and virtual reality controllers, intermediate data during the calculation process, the finally calculated position deviation value, and the user's training history.

3. The rehabilitation training system according to claim 1, characterized in that: The virtual reality glasses are used to render and display a three-dimensional model of the target posture representing a preset rehabilitation training goal in a virtual scene in real time. The virtual reality glasses are also used to render and display a three-dimensional model of the user posture representing the actual joint posture generated by the user based on the operation state of the virtual reality controller in a virtual scene in real time. The virtual reality glasses are used to overlay and display visual cue marks in the virtual scene to intuitively indicate the magnitude and direction of the positional deviation value between the user's actual operating posture and the target posture, and to display the calculated positional deviation value result.

4. The rehabilitation training system according to claim 1, characterized in that: Both the virtual reality glasses and the virtual reality controller employ electromagnetic positioning technology or infrared optical positioning technology to achieve the six-degree-of-freedom three-dimensional spatial positioning function, and the data sampling frequency provided by the positioning technology is no less than 30Hz.

5. The rehabilitation training system according to claim 1, characterized in that: The virtual reality controller includes a haptic feedback device. The data analysis storage is used to generate a haptic feedback control command and send it to the virtual reality controller when the calculated position deviation value exceeds a preset threshold or when the user completes a specific action. The haptic feedback device generates vibration or force feedback according to the received command to provide an additional deviation perception channel.

6. The rehabilitation training system according to claim 1, characterized in that: The system also includes an audio output device, which is communicatively connected to the data analysis storage. The data analysis storage is used to generate sound prompts based on the calculated position deviation value or training process events and send them to the audio output device. The audio output device plays prompts, voice guidance, or position deviation-related sound feedback according to the received instructions.

7. The rehabilitation training system according to claim 1, characterized in that: During training, the virtual reality controller is operated by the user and fixed near the target joint to be rehabilitated. The data analysis storage device calculates the actual spatial position and joint angle of the target joint through spatial geometric transformation based on the spatial coordinates and posture information of the virtual reality controller and a preset human bone and joint model.

8. A joint position sense rehabilitation training method based on virtual reality, the method being based on the rehabilitation training system described in any one of claims 1-7, characterized in that: The method includes the following steps: Sp1: Set three training difficulty levels: beginner, intermediate and advanced. The distances between the virtual interface and the subject are a, b and c, respectively, where c=2b=3a. Each difficulty level's interface generates 9 randomly distributed target points. Sp2: Subjects start training at the beginner level. When the average score of the 9 targets in a single training session is ≥80%, they are promoted to the intermediate level. Otherwise, they repeat the training at the current level. After passing the intermediate level, they enter the advanced level. When the average score of the 9 targets in the advanced level is ≥80%, the training ends. Sp3: Based on the target point A displayed on the virtual reality glasses and the controller image, the subject actively moves the controller to the position of target point A in three-dimensional space and marks it: Sp3-1: The system records the three-dimensional coordinates (x, y, y) of target point A. 0 ,y 0 ,z 0 Then turn off the screen display; Sp3-2: Subjects reset the handle to their perceived target point A position based on proprioception without visual feedback. Sp3-3: The system records the three-dimensional coordinates (x, y, y) of reset point B. 1 ,y 1 ,z 1 And redisplay the interface; Sp4: Real-time calculation of the spatial Euclidean distance between target point A and reset point B: d= The interface visually displays the positional difference between two points, where x... 1 y 1 and z 1 To reset the three-dimensional coordinates of point B, x 0 y 0 and z 0 Let be the three-dimensional coordinates of target point A, and d be the spatial Euclidean distance between target point A and reset point B. Sp5: Repeat steps Sp3-Sp4 to complete the training process for 9 targets at the current difficulty level; Sp6: Based on the spatial error values ​​{d1…d9} of 9 sets of coordinate pairs (A,B), a position sense score is generated through a preset algorithm.

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