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CN-121971276-A - Intelligent rehabilitation training system for lower limbs of cerebral apoplexy

CN121971276ACN 121971276 ACN121971276 ACN 121971276ACN-121971276-A

Abstract

The invention discloses an intelligent rehabilitation training system for lower limbs of cerebral apoplexy, which relates to the technical field of rehabilitation apparatuses and comprises a walking module, a body fixing support, a foot fixer, a leg adjusting module, a waist and shoulder auxiliary fixing module and a training gesture recognition and correction module. The training gesture recognition and correction module innovatively adopts a binocular 3D camera to collect data, combines VoxelCNN network and multi-constraint energy function optimization, realizes high-precision joint coordinate recognition, joint angle calculation and action track similarity evaluation, and can dynamically adjust training load and auxiliary force according to patient rehabilitation capability in real time by matching with a performance-based self-adaptive admittance control algorithm, thereby realizing one-man one-strategy customized rehabilitation training, thoroughly changing the one-knife training mode of the traditional instrument, enabling the rehabilitation training to be more fit with individual requirements of patients, and remarkably improving rehabilitation effect and training efficiency.

Inventors

  • WU JIE
  • LIU HUI
  • LI PEIFANG
  • SUN PEIYANG

Assignees

  • 安徽中医药大学第二附属医院（安徽省针灸医院）

Dates

Publication Date
20260505
Application Date
20260120

Claims (10)

  1. 1. The intelligent rehabilitation training system for the lower limbs of the cerebral apoplexy is characterized by comprising a walking module (1), a body fixing bracket (2), a foot fixer (3), a leg adjusting module (4), a waist and shoulder auxiliary fixing module (5) and a training gesture recognition and correction module (6); The walking module (1) is used for providing a rehabilitation training environment for simulating walking, the body fixing support (2) is fixed on the walking module (1) and used for providing an assembly foundation, and the foot fixing device (3), the leg adjusting module (4), the waist and shoulder auxiliary fixing module (5) and the training gesture recognition and correction module (6) are all assembled on the body fixing support (2) and are respectively used for realizing foot fixing, leg gesture adjustment, body stable support and training gesture recognition and correction.
  2. 2. The intelligent rehabilitation training system for cerebral apoplexy lower limbs according to claim 1, wherein the walking module (1) comprises a servo motor, a belt, a driving roller and an armrest, the servo motor is in transmission connection with the driving roller, the belt is sleeved on the driving roller, the servo motor drives the driving roller to rotate so as to drive the belt to rotate, and the belt rotation speed can realize stepless speed regulation.
  3. 3. The intelligent rehabilitation training system for cerebral apoplexy lower limbs according to claim 2, wherein the foot fixer (3) comprises a bottom plate (31), a housing (32) and a matrix servo adjusting module (33), the bottom plate (31) and the housing (32) are enclosed to form a cavity for accommodating feet of a patient, a binding belt for fixing heels is arranged on the bottom plate (31), and the matrix servo adjusting module (33) is installed on the housing (32) and comprises a plurality of linear motors which are independently controlled and used for carrying out multipoint compression on the surfaces of the feet.
  4. 4. The intelligent rehabilitation training system for cerebral apoplexy lower limb according to claim 3, wherein the leg adjusting module (4) comprises a triaxial mechanical arm (41), an ankle fixing strap (42), a knee fixing strap (43), a lower leg posture adjusting connecting rod (44) and a fine adjusting motor (45); The three-axis mechanical arm (41) is fixed on the body fixing support (2), the tail end of the three-axis mechanical arm is provided with a Z-direction adjusting module, the Z-direction adjusting module is connected with the knee fixing belt (43), the ankle fixing belt (42) is located below the knee fixing belt (43) and is connected with the knee fixing belt (43) through the shank posture adjusting connecting rod (44), the fine-tuning motor (45) is installed at the joint of the ankle fixing belt (42) and the shank posture adjusting connecting rod (44) and used for adjusting the relative position, the foot fixer (3) is connected with the ankle fixing belt (42) through two-side symmetrical connecting pieces, connecting shafts are inserted into the connecting pieces in an penetrating mode, and the foot fixer (3) can rotate along the connecting shafts.
  5. 5. The intelligent rehabilitation training system for cerebral apoplexy lower limbs according to claim 4, wherein the auxiliary waist and shoulder fixing module (5) comprises an annular fixing belt (51) and a supporting bar (52), the annular fixing belt (51) is used for winding and fixing the waist of a patient, the supporting bar (52) is divided into a left group and a right group, the left group and the right group are respectively assembled on two sides of the annular fixing belt (51), and sponge is wrapped outside the supporting bar and used for supporting the armpit of the patient.
  6. 6. The intelligent rehabilitation training system for cerebral apoplexy lower limbs according to claim 5, wherein the training gesture recognition and correction module (6) comprises two 3D cameras (61) and an analysis and calculation control system; the three-dimensional (3D) camera (61) is arranged right in front of a patient and is used for acquiring rehabilitation state data of the patient in a overlooking angle, and the other 3D camera (61) is arranged at the rear side of the leg to be rehabilitated and is used for acquiring rehabilitation posture data of the leg in a preset angle; The analysis and calculation control system comprises a rehabilitation gesture recognition module, a load distribution module and a correction decision module, and is used for receiving data transmitted by a 3D camera (61), processing, analyzing and controlling instruction output.
  7. 7. The intelligent rehabilitation training system for lower limbs in cerebral stroke according to claim 6, wherein the rehabilitation posture recognition module comprises the following steps: depth map output by 3D camera (61) in advance Conversion to a three-dimensional point cloud by a projection model The projection model expression is: ; Wherein, the Is the coordinate of the optical center of the lens, As the focal length of the lens is, Is a depth scaling factor; Constructing a joint coordinate estimation algorithm model based on a voxelized convolution network, and voxelizing the point cloud into a regular three-dimensional grid Extracting features through the 3D convolution layer, and outputting a three-dimensional heat map for each joint j And obtain joint coordinates through Soft-Argmax operation analysis Expressed as: ; Wherein, the Is a sharpening coefficient; And (3) refining the preliminarily estimated joint coordinates through an energy function, wherein the energy function expression is as follows: ; Wherein, the In the case of a data item which is a data item, In order to time-smooth the term, For the bone length constraint term, As physiological angle constraint terms, lambda 1 、λ 2 、λ 3 is a weight coefficient; based on the refined joint coordinates, calculating joint angles and motion track similarity to complete rehabilitation motion assessment, wherein the joint angles are calculated through an adjacent skeleton vector dot product formula, and the motion track similarity is calculated by adopting a dynamic time warping distance.
  8. 8. The intelligent rehabilitation training system for lower limbs in stroke according to claim 7, wherein the load distribution module comprises the following steps: Calculating load moment based on real-time capability evaluation, wherein the expression is as follows: ; wherein beta (t) is a real-time prescription coefficient, For the real-time estimated maximum autonomous contraction torque, Force velocity curve function related to joint angle velocity; And a self-adaptive admittance control mode based on performance is adopted to control the motion of the triaxial mechanical arm (41), and a control equation is as follows: ; Wherein, the For the desired trajectory to be in error with the actual position, For the virtual quality of the object to be obtained, In order to adapt the damping coefficient of the device, Is an adaptive stiffness coefficient; the adaptive parameter adjustment law is: ; Wherein, the As an index of the recent performance in terms of performance, In order to adapt the gain of the light source, 、 Respectively the minimum and maximum values of the stiffness coefficient, In order to achieve a damping ratio, Is equivalent moment of inertia.
  9. 9. The intelligent rehabilitation training system for the lower limb of the cerebral apoplexy according to claim 8, wherein the correction decision module is used for comparing a real-time posture assessment result with a preset standard, immediately sending a control instruction to the leg adjusting module (4) if abnormal or false actions are detected, and guiding or adjusting auxiliary force through adjusting the three-axis mechanical arm (41), the lower leg posture adjusting connecting rod (44) or the fine-tuning motor (45) to realize instant error correction.
  10. 10. The intelligent rehabilitation training system for the lower limb of the cerebral apoplexy according to claim 9, wherein the analysis and calculation control system is further used for recording training process data and curative effect data in the whole course, outputting a rehabilitation training implementation effect evaluation report and a rehabilitation optimization suggestion after training is finished, and providing data support for a doctor to adjust a rehabilitation scheme.

Description

Intelligent rehabilitation training system for lower limbs of cerebral apoplexy Technical Field The invention relates to the technical field of rehabilitation instruments, in particular to an intelligent rehabilitation training system for lower limbs of cerebral apoplexy. Background At present, china becomes a cerebral apoplexy high incidence area, the number of patients is continuously increased, the remarkable trend of younger is presented, and the ratio of the labor population 40-64 years old to patients is continuously improved. This current situation directly leads to a dramatic increase in stroke rehabilitation demands, while the patient's demands on rehabilitation quality are also increasing, especially in young patients, who generally desire to return to work and normal life through rehabilitation therapy. The cerebral apoplexy rehabilitation is taken as a systematic engineering, has the remarkable characteristics of complex rehabilitation requirements and huge workload, and the disease condition difference of different patients and the recovery state of the same patient in different rehabilitation stages all need customized rehabilitation schemes, so that extremely high challenges are provided for the professional skills and physical energy storage of medical staff. The existing cerebral apoplexy rehabilitation apparatus on the market generally has the problems of single function and low intelligent degree, and is difficult to formulate an accurate rehabilitation plan aiming at individual differences of patients, so that the rehabilitation effect is often not ideal. Meanwhile, the traditional instruments cannot effectively relieve the repeated labor amount of medical staff in the rehabilitation process, not only are the personalized and efficient rehabilitation requirements of patients difficult to meet, but also the high-strength and fine requirements of clinical rehabilitation work cannot be met, and a more targeted and intelligent rehabilitation solution is needed. For the problems in the related art, no effective solution has been proposed at present. Disclosure of Invention Aiming at the problems in the related art, the invention provides an intelligent rehabilitation training system for lower limbs of cerebral apoplexy, which aims to overcome the technical problems existing in the prior related art. The technical scheme of the invention is realized as follows: An intelligent rehabilitation training system for cerebral apoplexy lower limbs comprises a walking module, a body fixing bracket, a foot fixer, a leg adjusting module, a waist and shoulder auxiliary fixing module and a training gesture recognition and correction module; The walking module is used for providing a rehabilitation training environment for simulating walking, the body fixing support is fixed on the walking module and used for providing an assembly foundation, and the foot fixing device, the leg adjusting module, the waist and shoulder auxiliary fixing module and the training gesture recognition and correction module are all assembled on the body fixing support and respectively used for realizing foot fixing, leg gesture adjustment, body stable support and training gesture recognition and correction. Further, the walking module comprises a servo motor, a belt, a driving roller and handrails, wherein the servo motor is in transmission connection with the driving roller, the belt is sleeved on the driving roller, the servo motor drives the driving roller to rotate so as to drive the belt to rotate, and the belt rotation speed can realize stepless speed regulation. Further, the foot fixer comprises a bottom plate, a housing and a matrix servo adjusting module, wherein the bottom plate and the housing enclose to form a cavity for accommodating the foot of a patient, a binding belt for fixing the heel is arranged on the bottom plate, and the matrix servo adjusting module is arranged on the housing and comprises a plurality of linear motors which are independently controlled and used for compressing the foot surfaces at multiple points. Further, the leg adjusting module comprises a triaxial mechanical arm, an ankle fixing belt, a knee fixing belt, a shank posture adjusting connecting rod and a fine adjustment motor; The three-axis mechanical arm is fixed on the body fixing support, the tail end of the three-axis mechanical arm is provided with a Z-direction adjusting module, the Z-direction adjusting module is connected with the knee fixing belt, the ankle fixing belt is located below the knee fixing belt and is connected with the knee fixing belt through the shank posture adjusting connecting rod, the fine adjustment motor is arranged at the joint of the ankle fixing belt and the shank posture adjusting connecting rod and used for adjusting the relative position, the foot fixing device is connected with the ankle fixing belt through two symmetrical connecting pieces, connecting shafts are inserted in the connecting pieces, and th