Upper limb rehabilitation system
Patent Information
- Application Number
- TW114113662
- Authority / Receiving Office
- TW · TW
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-04-11
- Publication Date
- 2026-10-16
- Estimated Expiration
- 2045-04-10
AI Technical Summary
Existing upper limb rehabilitation systems lack engaging and dynamic rehabilitation scenarios, leading to patient monotony and reduced motivation due to repetitive and monotonous exercise patterns, and they primarily rely on fixed parameters for effectiveness assessment.
An upper limb rehabilitation system that incorporates an imaging module, throwing modules with varying weights, a target contact module, and a control module to simulate throwing scenarios, providing real-time feedback based on dynamic movement analysis and comparison with standard rehabilitation data sets.
Enhances rehabilitation effectiveness and motivation by dynamically assessing upper limb movements in a throwing scenario, offering immediate feedback and ensuring adherence to rehabilitation goals through precise deviation rate analysis.
Smart Images
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Abstract
Description
[Technical Field]
[0001] This invention relates to a system, and more particularly to an upper limb rehabilitation system. [Previous Technology]
[0002] In existing rehabilitation systems, although there are various devices that can help patients restore muscle strength, joint range of motion, and balance, most existing rehabilitation systems still use repetitive and monotonous exercise patterns. For example, traditional weight training equipment, elastic resistance devices, or robotic arms mainly assess rehabilitation effects through fixed parameters (such as the number of repetitions, angle, and duration) and use basic sensors or image monitoring technology to capture movement trajectories.
[0003] Furthermore, although some advanced systems have begun to incorporate motion capture and image analysis technologies, these technologies mostly focus on smooth, controlled movement patterns, but generally lack simulation of specific scenarios and engaging design. This leads to patients easily experiencing the monotony and boredom of the exercise process during long-term rehabilitation training, thereby affecting their training motivation and participation.
[0004] Therefore, the inventor believed that the above-mentioned defects could be improved, and thus devoted himself to research and applied scientific principles, and finally proposed an invention that is reasonably designed and effectively improves the above-mentioned defects. [Summary of the Invention]
[0005] The technical problem to be solved by the present invention is to provide an upper limb rehabilitation system in view of the shortcomings of the prior art.
[0006] One embodiment of the present invention discloses an upper limb rehabilitation system, comprising: an imaging module having a photographic range, the photographic range including a first side region and a second side region opposite to each other, wherein when the imaging module receives a monitoring signal, the imaging module can acquire monitoring image data within the photographic range; a plurality of throwing modules disposed in the first side region, the plurality of throwing modules having different weights to have multiple real weight data respectively, and each throwing module can detect its current posture to generate real movement parameter data, wherein when the real movement parameter data of any throwing module is greater than a trigger threshold, the throwing module sends a throwing signal; a target touch module disposed in the second side region, the target touch module emitting a touch signal when touched by any of the throwing modules; and a control module connected to the plurality of throwing modules, the imaging module and the target touch module, the control module... The control module has multiple standard rehabilitation data sets. Each standard rehabilitation data set includes a reference weight data set matching the actual weight data, a standard movement parameter data set corresponding to the actual movement parameter data, and a standard parabolic trajectory data set. When the control module receives the thrown signal, it obtains an actual parabolic trajectory data set corresponding to the throwing module from the monitoring image data and selects the standard rehabilitation data set with the reference weight data set matching the actual weight data. When the control module receives the touch signal, it uses the standard rehabilitation data set to detect a first deviation rate between the actual movement parameter data and the standard movement parameter data, and a second deviation rate between the actual parabolic trajectory data and the standard parabolic trajectory data. The control module issues a valid rehabilitation notification when the first deviation rate and the second deviation rate are respectively less than a first predetermined threshold and a second predetermined threshold.
[0007] In summary, the upper limb rehabilitation system disclosed in the embodiments of the present invention can effectively perform rehabilitation in a throwing scenario by means of the following design: "when the control module receives the throwing signal, the control module obtains an actual parabolic data corresponding to the throwing module from the monitoring image data and selects standard rehabilitation data with reference weight data that can match the real weight data"; and "when the control module receives the touch signal, the control module uses the standard rehabilitation data to detect a first deviation rate between the real movement parameter data and the standard movement parameter data, and a second deviation rate between the actual parabolic data and the standard parabolic data, and the control module issues an effective rehabilitation notification when the first deviation rate and the second deviation rate are respectively less than a first predetermined threshold and a second predetermined threshold".
[0008] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, these descriptions and drawings are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention in any way.
Implementation Method
[0012] The following specific embodiments illustrate the implementation of the "upper limb rehabilitation system" disclosed in this invention. Those skilled in the art can understand the advantages and effects of this invention from the content disclosed in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. Furthermore, the accompanying drawings of this invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated in advance. The following embodiments will further describe the relevant technical content of this invention in detail, but the disclosed content is not intended to limit the scope of protection of this invention.
[0013] It should be understood that although terms such as “first,” “second,” and “third” may be used herein to describe various components or signals, these components or signals should not be limited by these terms. These terms are primarily used to distinguish one component from another, or one signal from another. Furthermore, the term “or” as used herein may, as appropriate, include any combination of one or more of the associated listed items.
[0014] In addition, if in the following description it is indicated that you refer to a specific figure or as shown in a specific figure, it is only to emphasize that most of the relevant content in the following description appears in that specific figure, but it does not limit the following description to refer only to that specific figure.
[0015] Referring to Figures 1 to 3, this embodiment provides an upper limb rehabilitation system 100, which is used to rehabilitate the upper limbs (e.g., the upper limb areas such as the shoulder, arm, elbow, wrist and hand) in a situational manner (e.g., throwing a ball or tossing a ball to a designated target), thereby increasing the fun and effectiveness of rehabilitation.
[0016] Specifically, the upper limb rehabilitation system 100 includes an image module 1, multiple throwing modules 2 disposed on both sides of the image module 1, a target contact module 3, and a control module 4 connecting the multiple throwing modules 2, the image module 1, and the target contact module 3. The rehabilitation personnel P can perform upper limb rehabilitation by throwing any one of the throwing modules 2 at the target contact module 3, and the control module 4 can extract dynamic data from the image module 1 and the thrown module 2 to analyze the rehabilitation effectiveness and status of the rehabilitation personnel P.
[0017] It should be noted that in the field of rehabilitation system design, there are essential differences between existing upper limb rehabilitation systems and the upper limb rehabilitation system 100 of the present invention, which makes the two face completely different challenges in design.
[0018] Specifically, existing upper limb rehabilitation systems typically focus on slow, static, and stable movements, such as stretching exercises, yoga, and gymnastics, to ensure that the rehabilitation personnel P can perform progressive muscle training and joint mobility in a safe environment. In other words, existing upper limb rehabilitation systems and those skilled in the art do not employ rapid, dynamic, or unintended rehabilitation movements; that is, existing upper limb rehabilitation systems and those skilled in the art do not consider using a "throwing" method for dynamic rehabilitation when designing upper limb rehabilitation systems. In other words, any upper limb rehabilitation system that performs rehabilitation "not in a throwing manner" is not the upper limb rehabilitation system referred to in this invention. Next, the components of the described upper limb rehabilitation system and their connection relationships are described.
[0019] As shown in Figures 1 and 2, the image module 1 has a photographic range R. The photographic range R includes a first side region A1 and a second side region A2 that are opposite to each other. When the image module 1 receives a monitoring signal, the image module 1 can acquire monitoring image data within the photographic range R. In this embodiment, the first side region A1 can be understood as the starting point (i.e., the throwing starting point) of the rehabilitation personnel P during the throwing rehabilitation, and the second side region A2 can be understood as the target endpoint (i.e., the throwing endpoint) of the thrown object.
[0020] In practice, the image module 1 can be a CMOS or CCD sensor to ensure accurate acquisition of monitoring image data. Furthermore, the image module 1 can also employ a fisheye lens, a wide-angle lens, or a telephoto lens to ensure that the photographic range R can establish the first side region A1 and the second side region A2 at an ideal distance. Of course, to ensure that the image module 1 can also be configured with different types of sensors, such as radar, infrared, ultrasonic, or LiDAR, according to the designer's needs (e.g., higher accuracy requirements), to detect moving objects (e.g., the throwing module).
[0021] Referring to Figures 2 and 3, a plurality of throwing modules 2 are disposed in the first side region A1, and the weights of the plurality of throwing modules 2 are different from each other to have multiple real weight data. Each throwing module 2 can detect its current posture to generate a real movement parameter data, and when the real movement parameter data of any throwing module 2 is greater than a trigger threshold, the throwing module 2 can send a thrown signal.
[0022] For example, the total number of the multiple throwing modules 2 is three, and the weight of each throwing module 2 can be 200 grams, 400 grams, and 600 grams, respectively, to simulate the effect of different loads on the throwing action.
[0023] When the rehabilitation personnel P performs throwing rehabilitation, each throwing module 2 can instantly detect the current posture of the throwing module 2 (e.g., rotation angle, acceleration, speed, etc.) to generate the real movement parameter data. When the real movement parameter data of the thrown module 2 being thrown exceeds the system-set activation threshold (e.g., speed exceeding 5 m / s or acceleration exceeding 10 m / s²), the throwing module 2 will send the thrown signal to indicate that it has been thrown. That is to say, the activation threshold can be understood as a threshold value that can be determined to be thrown, thereby preventing data of non-throwing behavior from being used by the control module 4.
[0024] In practice, each of the throwing modules 2 can be designed as a flexible structure, that is, it can be appropriately deformed when held. Specifically, each of the throwing modules 2 includes a bag body 21, and a filler 22 disposed in the bag body 21, a multi-axis orientation sensor 23 and a transmitter 24.
[0025] The filler 22 may be a granular material (e.g., sand, beans, plastic granules). The multi-axis orientation sensor 23 can acquire the actual movement parameter data. The transmitter 24 is connected to the multi-axis orientation sensor 23, and the transmitter 24 stores the actual weight data corresponding to the weight of the filler. When the actual movement parameter data of the multi-axis orientation sensor 23 is greater than the activation threshold, the transmitter 24 sends the throwing signal, the actual weight data, and the actual movement parameter data to the control module 4.
[0026] Referring again to Figures 2 and 3, the target touch module 3 is disposed in the second side region A2, and the target touch module 3 can emit a touch signal when it is touched by any of the throwing modules 2. The target touch module 3 may detect the state of being touched by the throwing module 2 through a pressure sensor.
[0027] As shown in Figures 1 and 2, the control module 4 is used to integrate and process data from the image module 1, the multiple throwing modules 2, and the target touch module 3, so as to evaluate whether effective rehabilitation is performed based on standard conditions.
[0028] Specifically, the control module 4 has multiple standard rehabilitation data sets via network connection or pre-written methods. Each standard rehabilitation data set can be understood as the standard rehabilitation status data that rehabilitation personnel of different ages, genders, body types, etc., should possess at different rehabilitation stages. Among them, each standard rehabilitation data set has a reference weight data set matching the actual weight data, a standard movement parameter data set corresponding to the actual movement parameter data, and a standard parabolic data set.
[0029] Furthermore, when the control module 4 receives the thrown signal, the control module 4 obtains the actual parabolic data corresponding to the throwing module 2 from the monitoring image data, and selects the standard rehabilitation data having the reference weight data that matches the actual weight data. Moreover, when the control module 4 receives the touch signal, the control module 4 uses the standard rehabilitation data to detect a first deviation rate between the actual movement parameter data and the standard movement parameter data, and a second deviation rate between the actual parabolic data and the standard parabolic data. The control module 4 issues a valid rehabilitation notification when the first deviation rate and the second deviation rate are respectively less than a first predetermined threshold and a second predetermined threshold.
[0030] For example, when the rehabilitation personnel throw the throwing module 2, the real movement parameter data collected by the multi-axis orientation sensor 23 exceeds the activation threshold and sends the corresponding data and signals (i.e., the thrown signal, the real weight data and the real movement parameter data) to the control module 4 through the transmitter 24.
[0031] When the control module 4 receives the thrown signal, it extracts the throwing process image data of the rehabilitation personnel from the monitoring image data of the image module 1, thereby further analyzing the actual parabolic data. At the same time, the control module 4 also selects the matching standard rehabilitation data based on the actual weight data of the thrown module 2.
[0032] When the throwing module thrown by the rehabilitation personnel hits the target contact module 3, the target contact module emits a contact signal to indicate that it has been successfully hit. At this time, the control module 4 will calculate two sets of deviation rates: the first deviation rate is used to measure the difference between the actual movement parameter data (e.g., the angle and speed of the throwing action) of the thrown object and the standard movement parameter data; the second deviation rate measures the difference between the actual parabolic data of the thrown object and the standard parabolic data, thereby analyzing the accuracy and technical completion of the rehabilitation personnel's throw.
[0033] When both deviation rates are lower than preset thresholds (e.g., the first predetermined threshold and the second predetermined threshold), it means that the rehabilitation personnel's throwing action has reached the expected rehabilitation goal and the rehabilitation effect is good. At this time, the control module 4 will send an effective rehabilitation notification to inform the rehabilitation personnel that the training progress has reached the target and provide immediate positive feedback to help the rehabilitation personnel maintain or improve the effectiveness of rehabilitation training.
[0034] Conversely, when the control module 4 receives the thrown signal and does not receive the touch signal within a predetermined time interval, the control module 4 issues an invalid rehabilitation notification.
[0035] It is worth noting that the influence of ambient temperature on the rehabilitation personnel (e.g., cold weather causing the upper limbs of the rehabilitation personnel to be cold) may reduce the accuracy of the throwing module 2 when it is thrown. Therefore, each throwing module 2 also includes a temperature sensor 25 disposed in the bag body 21 and electrically coupled to the transmitter 24, and each standard rehabilitation data has a standard body temperature parameter data. The temperature sensor 25 can be used to sense the hand temperature of the rehabilitation personnel P holding the throwing module 2 to generate operational body temperature data. The control module 4 receives the operational body temperature data through the transmitter 24, and the control module 4 corrects the first predetermined threshold and the second predetermined threshold based on the difference between the operational body temperature data and the standard body temperature parameter data. That is, the control module 4 reduces the conditions for meeting effective rehabilitation based on the hand temperature of the rehabilitation personnel P.
[0036] Preferably, the upper limb rehabilitation system 100 can also be designed to warm the hands of the rehabilitation personnel to improve blood circulation, thereby achieving a temperature compensation effect. Specifically, each throwing module 2 further includes a temperature compensator 26 (e.g., a hand heater) disposed within the bag body 21 and connected to the temperature sensor 25. The temperature compensator 26 has a suggested temperature data, and the temperature compensator 26 performs temperature compensation on the hand holding the throwing module 2 based on the difference between the operating body temperature data and the suggested temperature data.
[0037] In addition, it should be noted that the rehabilitation personnel operating the upper limb rehabilitation system may have different body shapes. Therefore, each of the standard rehabilitation data may also have an upper limb reference parameter data, so that the control module 4 can select the appropriate standard rehabilitation data in conjunction with the monitoring image data. That is, when the control module 4 receives the thrown signal, the control module 4 obtains the upper limb real parameter data of the rehabilitation personnel P from the monitoring image data, and the control module 4 selects the standard rehabilitation data based on whether the upper limb real parameter data matches the upper limb reference parameter data and the reference weight data.
[0038] [Technical Effects of the Embodiments of the Invention]
[0039] In summary, the upper limb rehabilitation system disclosed in the embodiments of the present invention can effectively perform rehabilitation in a throwing scenario by means of the following design: "when the control module receives the throwing signal, the control module obtains an actual parabolic data corresponding to the throwing module from the monitoring image data and selects standard rehabilitation data with reference weight data that can match the real weight data"; and "when the control module receives the touch signal, the control module uses the standard rehabilitation data to detect a first deviation rate between the real movement parameter data and the standard movement parameter data, and a second deviation rate between the actual parabolic data and the standard parabolic data, and the control module issues an effective rehabilitation notification when the first deviation rate and the second deviation rate are respectively less than a first predetermined threshold and a second predetermined threshold".
[0040] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Therefore, all equivalent technical changes made based on the description and drawings of the present invention are included within the protection scope of the present invention. [Simplified Explanation of the Diagram]
[0009] Figure 1 is a circuit block diagram of the upper limb rehabilitation system of the present invention.
[0010] Figure 2 is a schematic diagram of the upper limb rehabilitation system of the present invention being operated by a person undergoing rehabilitation.
[0011] Figure 3 is a schematic diagram of the throwing module of the present invention.
Claims
1. An upper limb rehabilitation system, comprising: an imaging module having a photographic range, the photographic range including a first side region and a second side region opposite to each other, wherein when the imaging module receives a monitoring signal, the imaging module can acquire monitoring image data within the photographic range; a plurality of throwing modules disposed in the first side region, the plurality of throwing modules having different weights to each have a plurality of real weight data, and each throwing module can detect its current posture to generate real movement parameter data, wherein when the real movement parameter data of any throwing module is greater than a trigger threshold, the throwing module sends a throwing signal; A target touch module, disposed in the second side region, emits a touch signal when touched by any of the throwing modules; and a control module connected to multiple throwing modules, the image module, and the target touch module, the control module having multiple standard rehabilitation data, each of the standard rehabilitation data having a reference weight data matching the actual weight data, a standard movement parameter data corresponding to the actual movement parameter data, and a standard parabolic trajectory data; wherein... When the control module receives the thrown signal, it obtains actual parabolic data corresponding to the throwing module from the monitoring image data and selects standard rehabilitation data with reference weight data that matches the actual weight data. When the control module receives the touch signal, it uses the standard rehabilitation data to detect a first deviation rate between the actual movement parameter data and the standard movement parameter data, and a second deviation rate between the actual parabolic data and the standard parabolic data. The control module issues a valid rehabilitation notification when the first deviation rate and the second deviation rate are respectively less than a first predetermined threshold and a second predetermined threshold. Each throwing module includes: a bag body; and a filler material disposed within the bag body. A multi-axis orientation sensor is disposed inside the bag, and the multi-axis orientation sensor can acquire the actual movement parameter data; and a transmitter is connected to the multi-axis orientation sensor, the transmitter stores the actual weight data corresponding to the weight of the filling material, and the transmitter sends the throwing signal, the actual weight data and the actual movement parameter data to the control module when the actual movement parameter data of the multi-axis orientation sensor is greater than the activation threshold.
2. The upper limb rehabilitation system as described in claim 1, wherein, The filler is a granular material.
3. The upper limb rehabilitation system as described in claim 1, wherein, Each of the standard rehabilitation data also includes a standard body temperature parameter data; each of the throwing modules also includes a temperature sensor disposed in the bag and electrically coupled to the transmitter, the temperature sensor being used to sense the hand temperature of a rehabilitation person holding the throwing module to generate an operational body temperature data, the control module receiving the operational body temperature data through the transmitter, and the control module correcting the first predetermined threshold and the second predetermined threshold based on the difference between the operational body temperature data and the standard body temperature parameter data.
4. The upper limb rehabilitation system as described in claim 3, wherein, Each of the throwing modules further includes a temperature compensator disposed within the bag and connected to the temperature sensor. The temperature compensator has a suggested temperature data, and the temperature compensator compensates for the temperature of the hand holding the throwing module based on the difference between the operating body temperature data and the suggested temperature data.
5. The upper limb rehabilitation system as described in claim 1, wherein, Each of the standard rehabilitation data sets also includes upper limb reference parameter data; when the control module receives the thrown signal, the control module obtains the upper limb real parameter data of a rehabilitation person from the monitoring image data, and the control module selects the standard rehabilitation data based on whether the upper limb real parameter data matches the upper limb reference parameter data and the reference weight data.
6. The upper limb rehabilitation system as described in claim 1, wherein, When the control module receives the thrown signal and does not receive the touch signal within a predetermined time interval, the control module issues an invalid rehabilitation notification.