Upper limb rehabilitation training device and control method, control device and medium thereof

Abstract

The invention discloses an upper limb rehabilitation training device, a control method thereof, a control device and a medium, and relates to the technical field of medical rehabilitation. According to binocular fixation point data collected by an eye tracker, target hole space coordinates under a plugboard space coordinate system are determined; hand support initial position data and hand support current position data are obtained and converted into hand support initial position coordinates and hand support current position coordinates under a plugboard space coordinate system, and a hand support actual motion direction vector is determined according to the hand support initial position coordinates and the hand support current position coordinates; determining a target motion direction vector according to the target hole space coordinate and the hand support initial position coordinate, and determining a current deviation angle according to the target motion direction vector and the hand support actual motion direction vector, so that the hand motion direction deviation of the patient can be identified; on the basis of the current deviation angle, the target movement direction vector and the actual movement direction vector of the hand support can be utilized in time to correct the hand support of the upper limb rehabilitation training device until the current deviation angle is smaller than a preset value.

Description

Technical Field

[0001] This application relates to the field of medical rehabilitation technology, and in particular to an upper limb rehabilitation training device and its control method, control device and medium. Background Technology

[0002] Existing hand-eye coordination rehabilitation training devices mostly use physical targets (such as wall panels, buttons, or touch targets) to assist upper limb movement training. The selection of targets mainly depends on the therapist's instructions or the patient's active clicking, making it difficult to accurately obtain the patient's true intentions. Although some systems introduce eye trackers for target prompts, they mostly remain at the level of target display or assessment and do not form a closed-loop control with upper limb dynamic assistive devices. That is, most existing rehabilitation training systems only provide vertical support and cannot identify and correct deviations in the direction of the patient's hand movements, which can easily lead to the formation of compensatory movement paths and affect the quality of rehabilitation.

[0003] Therefore, how to identify and correct deviations in the direction of a patient's hand movements is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide an upper limb rehabilitation training device and its control method, control device and medium, to solve the problem that existing weight loss systems cannot identify and correct deviations in the direction of hand movements of patients.

[0005] To address the aforementioned technical problems, this application provides a control method for an upper limb rehabilitation training device, comprising:

[0006] Acquire binocular fixation point data collected by eye tracker, and determine the spatial coordinates of the target hole in the plate spatial coordinate system based on the binocular fixation point data;

[0007] Acquire the initial position data and current position data of the hand support, and convert the initial position data of the hand support into the initial position coordinates of the hand support in the space coordinate system of the insert plate, and convert the current position data of the hand support into the current position coordinates of the hand support in the space coordinate system of the insert plate;

[0008] The actual movement direction vector of the hand support is determined based on the initial position coordinates and the current position coordinates of the hand support; the target movement direction vector is determined based on the spatial coordinates of the target hole and the initial position coordinates of the hand support.

[0009] The current deviation angle is determined based on the target motion direction vector and the actual motion direction vector of the hand support.

[0010] The target motion direction vector and the actual motion direction vector of the hand support are used to correct the deviation of the hand support of the upper limb rehabilitation training device until the current deviation angle is less than the preset value.

[0011] In an optional embodiment, after the current deviation angle is less than a preset value, the method further includes:

[0012] Acquire the current force value in the vertical direction detected by the tension sensor of the upper limb rehabilitation training device;

[0013] If the difference between the current force value and the initial force value is greater than the set value, the torque of the first servo motor of the upper limb rehabilitation training device is adjusted to provide an auxiliary force in the opposite direction to the hand support gravity.

[0014] The initial force value is the force value in the vertical direction detected by the tension sensor when the patient places their wrist on the hand support of the upper limb rehabilitation training device and the upper limb is suspended vertically and in a static state.

[0015] In one optional embodiment, determining the target hole spatial coordinates in the insert space coordinate system based on the binocular gaze point data includes:

[0016] The binocular fixation point data is mapped from the eye tracker coordinate system to the insert space coordinate system to obtain the mapped coordinates of the fixation point on the insert plane.

[0017] The mapped coordinates are matched with the spatial coordinates of each hole on the pre-calibrated insert plate to obtain the target hole corresponding to the mapped coordinates;

[0018] Record the duration of the patient's gaze at the target hole;

[0019] When the gaze duration exceeds a preset time, the spatial coordinates of the target hole are determined as the spatial coordinates of the target hole.

[0020] In one optional embodiment, determining the current deviation angle based on the target motion direction vector and the actual motion direction vector of the hand support includes:

[0021] The current deviation angle is calculated according to a preset formula;

[0022] The preset formula is: ;

[0023] in, The current deviation angle, Let be the vector representing the actual direction of movement of the hand support. Let be the target's motion direction vector.

[0024] In an optional embodiment, before mapping the binocular fixation point data from the eye tracker coordinate system to the interpolation space coordinate system, the method further includes:

[0025] Select at least three calibration points on the insertion plate and determine the spatial coordinates of each calibration point in the spatial coordinate system of the insertion plate;

[0026] Guide the patient to fixate on each of the aforementioned calibration points in sequence, and obtain the coordinates of the fixation point in the eye tracker coordinate system when the patient fixates on each calibration point, as collected by the eye movement instrument.

[0027] Based on the spatial coordinates and gaze point coordinates corresponding to each calibration point, calculate the coordinate transformation matrix between the eye tracker coordinate system and the insert spatial coordinate system;

[0028] The mapping relationship between the eye tracker coordinate system and the insert space coordinate system is established based on the coordinate transformation matrix.

[0029] This application also provides an upper limb rehabilitation training device, including: a plate, an eye tracker, a first track, a second track, a pulley, a drive module, a drum, a rope, a hand support, and a controller;

[0030] The insert plate and the eye tracker are mounted on the wall. The insert plate has multiple holes. The first and second tracks are both parallel to the horizontal plane and are arranged in an orthogonal cross to form a cross track. The first track and the second track are slidably connected. The trolley is slidably connected to the second track. The drive module includes a first servo motor, a second servo motor, and a third servo motor. The first servo motor is located on the trolley and is connected to the shaft of the drum. One end of the rope is wound around the drum, and the other end of the rope is connected to the hand support. The first servo motor is used to drive the drum to rotate to wind and unwind the rope so that the hand support can be raised and lowered in the vertical direction. The second servo motor is located on the first track and is used to drive the trolley to slide along the first track. The third servo motor is located on the second track and is used to drive the trolley to slide along the second track. The controller is connected to the eye tracker, the first servo motor, the second servo motor, and the third servo motor. The controller is used to execute the steps of the control method of the upper limb rehabilitation training device.

[0031] In one alternative embodiment, the apertures of the multiple holes are different.

[0032] In one optional embodiment, the insert plate is mounted on the wall via a height-adjustable mechanism. The height-adjustable mechanism includes a fixed bracket, a lifting guide rail, a lifting slider, a lead screw, a nut, and a lifting drive motor. The fixed bracket is fixedly connected to the wall. The lifting guide rail is vertically mounted on the fixed bracket. The lifting slider slides along the lifting guide rail. The insert plate is fixedly connected to the lifting slider. The two ends of the lead screw are rotatably connected to the fixed bracket via bearings. The length direction of the lead screw is parallel to the vertical direction. The nut is fitted onto the lead screw and threadedly engages with it. The nut is fixedly connected to the lifting slider. The lifting drive motor is mounted on the fixed bracket. The output shaft of the lifting drive motor is connected to one end of the lead screw. The lifting drive motor drives the lead screw to rotate, causing the nut to move the lifting slider along the lifting guide rail, thereby adjusting the installation height of the insert plate.

[0033] This application also provides a control device for an upper limb rehabilitation training device, including a memory for storing computer programs;

[0034] A processor is used to implement the steps of the control method for the upper limb rehabilitation training device when executing the computer program.

[0035] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for the upper limb rehabilitation training device.

[0036] The control method for an upper limb rehabilitation training device provided in this application includes: acquiring binocular fixation point data collected by an eye tracker; determining the target hole spatial coordinates in the interposer spatial coordinate system based on the binocular fixation point data, thereby accurately acquiring the patient's true target; acquiring initial hand support position data and current hand support position data, converting the initial hand support position data into initial hand support position coordinates in the interposer spatial coordinate system, and converting the current hand support position data into current hand support position coordinates in the interposer spatial coordinate system; determining the actual movement direction vector of the hand support based on the initial hand support position coordinates and the current hand support position coordinates, and determining the target movement direction vector based on the target hole spatial coordinates and the initial hand support position coordinates; determining the current deviation angle based on the target movement direction vector and the actual hand support movement direction vector, wherein the current deviation angle can be used to identify deviations in the patient's hand movement direction, and based on the current deviation angle, the movement direction of the hand support of the upper limb rehabilitation training device can be corrected in a timely manner using the target movement direction vector and the actual hand support movement direction vector until the current deviation angle is less than a preset value.

[0037] The beneficial effects and methods of the upper limb rehabilitation training device, its control device, and the medium provided in this application are as described above. Attached Figure Description

[0038] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart illustrating a control method for an upper limb rehabilitation training device provided in this application embodiment;

[0040] Figure 2 A structural diagram of an upper limb rehabilitation training device provided in this application embodiment;

[0041] Figure 3 This is a structural diagram of the control device for an upper limb rehabilitation training device provided in an embodiment of this application. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0043] The core of this application is to provide an upper limb rehabilitation training device and its control method, control device and medium, for identifying and correcting the patient's movement direction.

[0044] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Figure 1 A flowchart illustrating a control method for an upper limb rehabilitation training device provided in this application embodiment is shown below. Figure 1 As shown, the control method of the upper limb rehabilitation training device includes:

[0046] S11: Acquire binocular fixation point data collected by the eye tracker, and determine the spatial coordinates of the target hole in the plate spatial coordinate system based on the binocular fixation point data.

[0047] S12: Obtain the initial position data and current position data of the hand support, and convert the initial position data of the hand support into the initial position coordinates of the hand support in the interlocking plate space coordinate system, and convert the current position data of the hand support into the current position coordinates of the hand support in the interlocking plate space coordinate system.

[0048] S13: Determine the actual movement direction vector of the hand support based on the initial position coordinates and the current position coordinates of the hand support; determine the target movement direction vector based on the spatial coordinates of the target hole and the initial position coordinates of the hand support.

[0049] S14: Determine the current deviation angle based on the target motion direction vector and the actual hand-held motion direction vector.

[0050] S15: Use the target motion direction vector and the actual motion direction vector of the hand support to correct the deviation of the hand support of the upper limb rehabilitation training device until the current deviation angle is less than the preset value.

[0051] To better understand this application, an upper limb rehabilitation training device is described below. Figure 2 A structural diagram of an upper limb rehabilitation training device provided in this application embodiment is shown below. Figure 2 As shown, the upper limb rehabilitation training device includes: a mounting plate 1, an eye tracker 2, a first track, a second track, a pulley 3, a drive module, a reel, a rope 4, a hand support 5, and a controller; the mounting plate 1 and the eye tracker 2 are installed on the wall. The mounting plate 1 has multiple holes 7. The first track and the second track are both parallel to the horizontal plane and are arranged in an orthogonal cross to form a cross track 6. The first track and the second track are slidably connected, and the pulley 3 is slidably connected to the second track. The drive module includes a first servo motor, a second servo motor, and a third servo motor. The first servo motor is located on the pulley. The motor is connected to the shaft of the drum. One end of the rope 4 is wound around the drum, and the other end of the rope 4 is connected to the hand support 5. The first servo motor is used to drive the drum to rotate to wind up and unwind the rope 4 so that the hand support 5 can be raised and lowered in the vertical direction. The second servo motor is located on the first track and is used to drive the trolley 3 to slide along the first track. The third servo motor is located on the second track and is used to drive the trolley 3 to slide along the second track. The controller is connected to the eye tracker 2, the first servo motor, the second servo motor and the third servo motor respectively. The controller is used to execute the steps of the control method of the upper limb rehabilitation training device.

[0052] The eye tracker can be located in the middle or above the insertion plate. Its optical axis is perpendicular to the plate plane, and its field of view covers the entire plate, allowing real-time tracking of the patient's gaze points. A second track is slidably connected to the first track and can move linearly along it. A trolley is also slidably connected to the second track and can move linearly along it. The movement of the hand support covers both the first and second track directions. Combined with the vertical movement of the hand support, it can cover all the holes on the insertion plate. The method of use is as follows: the patient places their wrist in the hand support and moves it to insert their fingers into a hole. Training ends after inserting a preset number of holes. The training time, the time spent in vertical assistance during training, and the number of corrections can be recorded for subsequent training evaluation. The insertion plate has multiple holes, each with a pre-marked position. The holes have different diameters: a large hole with a radius of 30mm and a small hole with a radius of 15mm. The large hole is used for early-stage training or for patients with weak upper limb strength, while the small hole is used for mid-to-late-stage fine motor training. The insertion plate is mounted on the wall via a height-adjustable mechanism, allowing for height adjustment to accommodate different heights and training needs, whether sitting or standing. Specifically, the height-adjustable mechanism includes a fixed bracket, a lifting guide rail, a lifting slider, a lead screw, a nut, and a lifting drive motor. The fixed bracket is fixedly connected to the wall. The lifting guide rail is vertically mounted on the fixed bracket, and the lifting slider slides along the guide rail. The insertion plate is fixedly connected to the lifting slider. The two ends of the lead screw are rotatably connected to the fixed bracket via bearings. The length of the lead screw is parallel to the vertical direction. A nut is fitted onto the lead screw and threaded into it, and is fixedly connected to the lifting slider. The lifting drive motor is mounted on the fixed bracket, and its output shaft is connected to one end of the lead screw. The motor drives the lead screw to rotate, causing the nut to move the lifting slider along the lifting guide rail, thus adjusting the installation height of the insertion plate. Furthermore, the other end of the rope can be connected to a hand rest via a tension sensor. The tension sensor detects the current force value in the vertical direction, which is parallel to the horizontal plane.

[0053] In step S11, the binocular fixation point data is the three-dimensional spatial coordinate of the intersection of the binocular lines of sight in the eye tracker coordinate system. Determining the target hole spatial coordinates in the plate spatial coordinate system based on the binocular fixation point data includes: mapping the binocular fixation point data from the eye tracker coordinate system to the plate spatial coordinate system to obtain the mapped coordinates of the fixation point on the plate plane; matching the mapped coordinates with the spatial coordinates of each hole on the pre-calibrated plate to obtain the target hole corresponding to the mapped coordinates; recording the duration of the patient's fixation on the target hole; and determining the target hole spatial coordinates as the target hole spatial coordinates when the fixation duration exceeds a preset time.

[0054] Before mapping binocular fixation point data from the eye tracker coordinate system to the plate space coordinate system, the process includes: selecting at least three calibration points on the plate and determining the spatial coordinates of each calibration point in the plate space coordinate system; guiding the patient to fixate on each calibration point in sequence and obtaining the fixation point coordinates in the eye tracker coordinate system when the patient fixates on each calibration point; calculating the coordinate transformation matrix between the eye tracker coordinate system and the plate space coordinate system based on the spatial coordinates and fixation point coordinates corresponding to each calibration point; and establishing the mapping relationship between the eye tracker coordinate system and the plate space coordinate system based on the coordinate transformation matrix.

[0055] Calibration points can be the center of a specific hole, a marker point on the corner of the insert plate, or a calibration mark specifically affixed to the insert plate. The patient is guided to gaze at each calibration point sequentially, either through manual instruction or verbal prompts from the therapist, ensuring the patient's gaze is accurately focused on the current calibration point. When the patient gazes at a calibration point, the eye tracker acquires and processes binocular images in real time, outputting the three-dimensional coordinates of that gaze point in the eye tracker coordinate system, i.e., the gaze point coordinates. This process is repeated for each calibration point to obtain the corresponding gaze point coordinates. Calculating the coordinate transformation matrix between the eye tracker coordinate system and the insert plate space coordinate system is existing technology and will not be elaborated here. After obtaining the coordinate transformation matrix, a mapping relationship between the eye tracker coordinate system and the insert plate space coordinate system is established based on this matrix. This mapping relationship can subsequently convert the binocular gaze point data acquired in each frame to the insert plate space coordinate system in real time.

[0056] During training, the binocular fixation data is mapped from the eye tracker coordinate system to the interposer space coordinate system based on the mapping relationship between the eye tracker coordinate system and the interposer space coordinate system, obtaining the mapped coordinates of the fixation points on the interposer plane. The spatial coordinates of each aperture are defined as the coordinates of the aperture center point in the interposer space coordinate system. The matching process traverses all apertures, calculating the distance between the mapped coordinates and the spatial coordinates of each aperture. If the distance between the spatial coordinates of an aperture and the mapped coordinates is less than a set value, that aperture is the target aperture corresponding to the mapped coordinates. When the patient's fixation duration on the target aperture exceeds a preset time (which can be 500ms), the spatial coordinates of the target aperture are determined as the target aperture spatial coordinates. This effectively distinguishes between intentional fixation and involuntary saccades, filtering out common saccade movements, brief pauses, and attentional fluctuations in eye tracker data.

[0057] In step S12, the rotation angle of the drum and the movement distance of the trolley can be recorded by the encoders of the first, second, and third servo motors. Combined with geometric relationships, the spatial position of the hand support can be calculated to obtain the initial position data of the hand support when the wrist is not placed in it and the current position data of the hand support during training. Alternatively, the initial and current position data of the hand support can be measured by an inertial measurement unit or position sensor installed on the hand support. Then, according to a preset mapping relationship, the initial position data of the hand support can be converted into the initial position coordinates of the hand support in the interposer space coordinate system, and the current position data of the hand support can be converted into the current position coordinates of the hand support in the interposer space coordinate system.

[0058] In step S13, based on the initial position coordinates of the hand support and the current position coordinates of the hand support The actual direction vector of the hand support is determined as follows: Based on the spatial coordinates of the target hole and the initial position coordinates of the hand support Determine the target motion direction vector .

[0059] In step S14, the current deviation angle is determined based on the target motion direction vector and the actual hand-held motion direction vector, including: calculating the current deviation angle according to a preset formula; the preset formula is: ;in, This is the current deviation angle. Let be the vector representing the actual direction of movement of the hand holding the object. The vector representing the direction of motion of the target.

[0060] In step S15, when When the direction is determined to be consistent, no corrective force is applied to fully preserve the patient's voluntary motor ability; when When a slight deviation is identified, no direct correction is given; the patient is allowed to correct it themselves. When a significant deviation is detected, correction control is initiated to prevent further deviation from the target hole. The correction control of the hand support of the upper limb rehabilitation training device is performed using the target motion direction vector and the actual motion direction vector of the hand support until the current deviation angle is less than the preset value.

[0061] The correction control of the hand support of the upper limb rehabilitation training device based on the target motion direction vector and the actual motion direction vector of the hand support includes: calculating the first horizontal projection component of the target motion direction vector in the first horizontal direction, the second horizontal projection component in the second horizontal direction, and the vertical projection component in the vertical direction; wherein, the first horizontal direction is the extension direction of the first track, the second horizontal direction is the extension direction of the second track, and the vertical direction is the gravity direction of the hand support; calculating the actual first horizontal projection component of the actual motion direction vector of the hand support in the first horizontal direction, the actual second horizontal projection component in the second horizontal direction, and the actual vertical projection component in the vertical direction; controlling the output torque and direction of the second servo motor based on the difference between the first horizontal projection component and the actual first horizontal projection component to adjust the sliding driving force and sliding direction of the trolley along the first track; controlling the output torque and direction of the third servo motor based on the difference between the second horizontal projection component and the actual second horizontal projection component to adjust the sliding driving force and sliding direction of the trolley along the second track; controlling the output torque and direction of the first servo motor based on the difference between the vertical projection component and the actual vertical projection component to adjust the winding and unwinding driving force and winding and unwinding direction of the drum, thereby adjusting the lifting and lowering driving force and lifting and lowering direction of the hand support. To convert the difference into output torque, the difference can be multiplied by a preset scaling factor to obtain the output torque.

[0062] The control method for an upper limb rehabilitation training device provided in this application includes: acquiring binocular fixation point data collected by an eye tracker; determining the target hole spatial coordinates in the interposer spatial coordinate system based on the binocular fixation point data, thereby accurately acquiring the patient's true target; acquiring initial hand support position data and current hand support position data, converting the initial hand support position data into initial hand support position coordinates in the interposer spatial coordinate system, and converting the current hand support position data into current hand support position coordinates in the interposer spatial coordinate system; determining the actual movement direction vector of the hand support based on the initial hand support position coordinates and the current hand support position coordinates, and determining the target movement direction vector based on the target hole spatial coordinates and the initial hand support position coordinates; determining the current deviation angle based on the target movement direction vector and the actual hand support movement direction vector, wherein the current deviation angle can be used to identify deviations in the patient's hand movement direction, and based on the current deviation angle, the movement direction of the hand support of the upper limb rehabilitation training device can be corrected in a timely manner using the target movement direction vector and the actual hand support movement direction vector until the current deviation angle is less than a preset value.

[0063] Based on the above embodiments, after the current deviation angle is less than a preset value, this application embodiment further includes: acquiring the current force value in the vertical direction detected by the tension sensor of the upper limb rehabilitation training device; if the difference between the current force value and the initial force value is greater than a set value (which may be 5N), adjusting the torque of the first servo motor of the upper limb rehabilitation training device to provide an auxiliary force opposite to the direction of the hand support gravity; wherein, the initial force value is the force value in the vertical direction detected by the tension sensor when the patient places his wrist in the hand support of the upper limb rehabilitation training device and the upper limb is vertically suspended in a static state.

[0064] At the beginning of the training, the patient places their wrist in the hand support, and the force sensor outputs the current force value in the vertical direction. The initial force value is the force value detected by the force sensor in the vertical direction when the patient's wrist is placed in the hand support of the upper limb rehabilitation training device and the upper limb is naturally hanging down in a static state. The force sensor detects changes in force value in real time and adjusts the torque of the first servo motor to provide an auxiliary force in the opposite direction to the gravity of the hand support, so as to counteract the part of the gravity that the patient cannot bear independently. The auxiliary force is continuously adjusted over time and smoothed out. For example, the auxiliary force of a preset size is adjusted at intervals until the difference between the current force value and the initial force value is less than or equal to the set value, so as to avoid discomfort or safety risks caused by sudden changes. This ensures that the training process is mainly based on the patient's active movement, and only small and necessary assistance is provided, thereby realizing the dynamic adjustment of auxiliary force according to the patient's instantaneous ability changes.

[0065] In the above embodiments, the control method of the upper limb rehabilitation training device has been described in detail. This application also provides embodiments corresponding to the control device of the upper limb rehabilitation training device. It should be noted that this application describes the embodiments of the device part from two perspectives: one is based on the functional module, and the other is based on the hardware.

[0066] This application also provides a control device for an upper limb rehabilitation training device, comprising:

[0067] The first acquisition module is used to acquire binocular fixation point data collected by the eye tracker, and determine the spatial coordinates of the target hole in the plate spatial coordinate system based on the binocular fixation point data.

[0068] The second acquisition module is used to acquire the initial position data and the current position data of the hand support, and convert the initial position data of the hand support into the initial position coordinates of the hand support in the interlocking plate space coordinate system, and convert the current position data of the hand support into the current position coordinates of the hand support in the interlocking plate space coordinate system.

[0069] The first determining module is used to determine the actual movement direction vector of the hand support based on the initial position coordinates and the current position coordinates of the hand support, and to determine the target movement direction vector based on the spatial coordinates of the target hole and the initial position coordinates of the hand support;

[0070] The second determining module is used to determine the current deviation angle based on the target motion direction vector and the actual hand-held motion direction vector;

[0071] The deviation control module is used to control the deviation of the hand support of the upper limb rehabilitation training device by using the target motion direction vector and the actual motion direction vector of the hand support until the current deviation angle is less than the preset value.

[0072] Based on the above embodiments, in an optional embodiment, it further includes:

[0073] The third acquisition module is used to acquire the current force value in the vertical direction detected by the tension sensor of the upper limb rehabilitation training device;

[0074] An adjustment module is used to adjust the torque of the first servo motor of the upper limb rehabilitation training device to provide an auxiliary force opposite to the direction of the hand support gravity when the difference between the current force value and the initial force value is greater than a set value; wherein, the initial force value is the force value in the vertical direction detected by the tension sensor when the patient places his wrist in the hand support of the upper limb rehabilitation training device and the upper limb is vertically suspended in a static state.

[0075] Based on the above embodiments, in an optional embodiment, the first acquisition module includes:

[0076] The mapping unit is used to map binocular fixation point data from the eye tracker coordinate system to the slab space coordinate system to obtain the mapped coordinates of the fixation point on the slab plane.

[0077] The matching unit is used to match the mapped coordinates with the spatial coordinates of each hole on the pre-calibrated insert plate to obtain the target hole corresponding to the mapped coordinates;

[0078] A recording unit is used to record the duration of the patient's fixation on the target hole;

[0079] The determination unit is used to determine the spatial coordinates of the target hole when the gaze duration exceeds a preset time.

[0080] Based on the above embodiments, in one optional embodiment, the second determining module includes:

[0081] The first calculation unit is used to calculate the current deviation angle according to a preset formula; the preset formula is: ;in, This is the current deviation angle. Let be the vector representing the actual direction of movement of the hand holding the object. The vector representing the direction of motion of the target.

[0082] Based on the above embodiments, in an optional embodiment, the first acquisition module further includes:

[0083] The selection unit is used to select at least three calibration points on the insertion plate and determine the spatial coordinates of each calibration point in the plate's spatial coordinate system.

[0084] The acquisition unit is used to guide the patient to gaze at each calibration point in sequence and acquire the coordinates of the gaze point in the eye tracker coordinate system when the patient gazes at each calibration point.

[0085] The second calculation unit is used to calculate the coordinate transformation matrix between the eye tracker coordinate system and the tether space coordinate system based on the spatial coordinates and gaze point coordinates corresponding to each calibration point.

[0086] The mapping relationship establishment unit is used to establish the mapping relationship between the eye tracker coordinate system and the interpolation space coordinate system based on the coordinate transformation matrix.

[0087] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0088] Figure 3 A structural diagram of a control device for an upper limb rehabilitation training device provided in this application embodiment is shown below. Figure 3 As shown, the control device of the upper limb rehabilitation training device includes: a memory 20 for storing computer programs; and a processor 21 for executing the computer programs to implement the steps of the control method of the upper limb rehabilitation training device as described in the above embodiment.

[0089] The control device for the upper limb rehabilitation training device provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0090] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0091] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the control method for the upper limb rehabilitation training device disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, binocular fixation data.

[0092] In some embodiments, the control device of the upper limb rehabilitation training device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0093] Those skilled in the art will understand that Figure 3 The structure shown does not constitute a limitation on the control device of the upper limb rehabilitation training device and may include more or fewer components than shown.

[0094] The control device for the upper limb rehabilitation training device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can perform the following methods: acquire binocular fixation point data collected by an eye tracker, and determine the target hole spatial coordinates in the interposer spatial coordinate system based on the binocular fixation point data; acquire initial hand support position data and current hand support position data, and convert the initial hand support position data into initial hand support position coordinates in the interposer spatial coordinate system, and convert the current hand support position data into current hand support position coordinates in the interposer spatial coordinate system; determine the actual movement direction vector of the hand support based on the initial hand support position coordinates and the current hand support position coordinates, and determine the target movement direction vector based on the target hole spatial coordinates and the initial hand support position coordinates; determine the current deviation angle based on the target movement direction vector and the actual hand support movement direction vector; and perform correction control on the hand support of the upper limb rehabilitation training device based on the target movement direction vector and the actual hand support movement direction vector until the current deviation angle is less than a preset value.

[0095] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the control method of the upper limb rehabilitation training device of the above method embodiment.

[0096] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] The foregoing provides a detailed description of an upper limb rehabilitation training device and its control method, control device, and medium provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0098] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method for an upper limb rehabilitation training device, characterized in that, include: Acquire binocular fixation point data collected by eye tracker, and determine the spatial coordinates of the target hole in the plate spatial coordinate system based on the binocular fixation point data; Acquire the initial position data and current position data of the hand support, and convert the initial position data of the hand support into the initial position coordinates of the hand support in the space coordinate system of the insert plate, and convert the current position data of the hand support into the current position coordinates of the hand support in the space coordinate system of the insert plate; The actual movement direction vector of the hand support is determined based on the initial position coordinates and the current position coordinates of the hand support; the target movement direction vector is determined based on the spatial coordinates of the target hole and the initial position coordinates of the hand support. The current deviation angle is determined based on the target motion direction vector and the actual motion direction vector of the hand support. The target motion direction vector and the actual motion direction vector of the hand support are used to correct the deviation of the hand support of the upper limb rehabilitation training device until the current deviation angle is less than the preset value.

2. The control method for the upper limb rehabilitation training device according to claim 1, characterized in that, After the current deviation angle is less than a preset value, the following is also included: Acquire the current force value in the vertical direction detected by the tension sensor of the upper limb rehabilitation training device; If the difference between the current force value and the initial force value is greater than the set value, the torque of the first servo motor of the upper limb rehabilitation training device is adjusted to provide an auxiliary force in the opposite direction to the hand support gravity. The initial force value is the force value in the vertical direction detected by the tension sensor when the patient places their wrist on the hand support of the upper limb rehabilitation training device and the upper limb is suspended vertically and in a static state.

3. The control method for the upper limb rehabilitation training device according to claim 1, characterized in that, Determining the spatial coordinates of the target hole in the insert space coordinate system based on the binocular fixation point data includes: The binocular fixation point data is mapped from the eye tracker coordinate system to the insert space coordinate system to obtain the mapped coordinates of the fixation point on the insert plane. The mapped coordinates are matched with the spatial coordinates of each hole on the pre-calibrated insert plate to obtain the target hole corresponding to the mapped coordinates; Record the duration of the patient's gaze at the target hole; When the gaze duration exceeds a preset time, the spatial coordinates of the target hole are determined as the spatial coordinates of the target hole.

4. The control method for the upper limb rehabilitation training device according to claim 1, characterized in that, Determining the current deviation angle based on the target motion direction vector and the actual motion direction vector of the hand support includes: The current deviation angle is calculated according to a preset formula; The preset formula is: ; in, The current deviation angle, Let be the vector representing the actual direction of movement of the hand support. Let be the target's motion direction vector.

5. The control method for the upper limb rehabilitation training device according to claim 3, characterized in that, Before mapping the binocular fixation point data from the eye tracker coordinate system to the interpolation space coordinate system, the process also includes: Select at least three calibration points on the insertion plate and determine the spatial coordinates of each calibration point in the spatial coordinate system of the insertion plate; Guide the patient to fixate on each of the aforementioned calibration points in sequence, and obtain the coordinates of the fixation point in the eye tracker coordinate system when the patient fixates on each calibration point, as collected by the eye movement instrument. Based on the spatial coordinates and gaze point coordinates corresponding to each calibration point, calculate the coordinate transformation matrix between the eye tracker coordinate system and the insert spatial coordinate system; The mapping relationship between the eye tracker coordinate system and the insert space coordinate system is established based on the coordinate transformation matrix.

6. An upper limb rehabilitation training device, characterized in that, include: Insert plate, eye tracker, first track, second track, pulley, drive module, drum, rope, hand support and controller; The insert plate and the eye tracker are mounted on the wall. The insert plate has multiple holes. The first track and the second track are both parallel to the horizontal plane. The first track and the second track are arranged in an orthogonal cross to form a cross track. The first track and the second track are slidably connected. The trolley is slidably connected to the second track. The drive module includes a first servo motor, a second servo motor, and a third servo motor. The first servo motor is located on the trolley and is connected to the shaft of the drum. One end of the rope is wound around the drum, and the other end of the rope is connected to the hand support. The first servo motor is used to drive the drum to rotate to wind and unwind the rope so that the hand support can be raised and lowered in the vertical direction. The second servo motor is located on the first track and is used to drive the trolley to slide along the first track. The third servo motor is located on the second track and is used to drive the trolley to slide along the second track. The controller is connected to the eye tracker, the first servo motor, the second servo motor, and the third servo motor respectively. The controller is used to execute the steps of the control method of the upper limb rehabilitation training device according to any one of claims 1 to 5.

7. The upper limb rehabilitation training device according to claim 6, characterized in that, The holes have different diameters.

8. The upper limb rehabilitation training device according to claim 6, characterized in that, The insert plate is mounted on the wall via a height-adjustable mechanism. This mechanism includes a fixed bracket, a lifting guide rail, a lifting slider, a lead screw, a nut, and a lifting drive motor. The fixed bracket is fixedly connected to the wall. The lifting guide rail is vertically mounted on the fixed bracket. The lifting slider slides along the lifting guide rail. The insert plate is fixedly connected to the lifting slider. The two ends of the lead screw are rotatably connected to the fixed bracket via bearings. The length of the lead screw is parallel to the vertical direction. The nut is fitted onto the lead screw and threadedly engages with it. The nut is fixedly connected to the lifting slider. The lifting drive motor is mounted on the fixed bracket. The output shaft of the lifting drive motor is connected to one end of the lead screw. The lifting drive motor drives the lead screw to rotate, causing the nut to move the lifting slider along the lifting guide rail, thereby adjusting the installation height of the insert plate.

9. A control device for an upper limb rehabilitation training device, characterized in that, Includes memory used to store computer programs; A processor, configured to execute the computer program to implement the steps of the control method for the upper limb rehabilitation training device as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the upper limb rehabilitation training device as described in any one of claims 1 to 5.

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