CN-121983242-A - Nonlinear motion load and function rehabilitation training system based on multi-source data fusion

CN121983242ACN 121983242 ACN121983242 ACN 121983242ACN-121983242-A

Abstract

The invention relates to a nonlinear motion load and function rehabilitation training system based on multi-source data fusion, which comprises a wearing module, a data fusion evaluation module, a nonlinear motion load control module and an intelligent intervention module, wherein the wearing module is used for providing training assistance for patients with dyskinesia in different periods and different rehabilitation stages, collecting motion data and physiological state data in the patient training process, the data fusion evaluation module is used for fusing real-time data of multiple sources and comprehensively evaluating the motion function state of the patient, the nonlinear motion load control module is used for dynamically adjusting the motion load of the wearing module according to the real-time data and the rehabilitation target of the patient and combining the motion function state of the patient by adopting a preset control algorithm, and the intelligent intervention module is used for feeding back and guiding the motion data of the patient in real time and predicting the rehabilitation trend of the patient and adjusting the rehabilitation scheme. The invention can be widely applied to the field of medical rehabilitation.

Inventors

LING HUA
LIU NING
FENG JUE
Cai Jinfen
DU XIAOXIA
HUANG FUBIAO

Assignees

中国康复科学所(中国残联残疾预防与控制研究中心)

Dates

Publication Date: 20260505
Application Date: 20260319

Claims (10)

1. The nonlinear motion load and function rehabilitation training system based on multi-source data fusion is characterized by comprising a wearing module, a data fusion evaluation module, a nonlinear motion load control module and an intelligent intervention module; the wearable module is used for providing training assistance for patients with dyskinesia in different periods and different rehabilitation stages, and collecting movement data and physiological state data in the training process of the patients; The data fusion evaluation module is used for fusing real-time data of various sources and comprehensively evaluating the motion function state of a patient; The nonlinear motion load control module is used for dynamically adjusting the motion load of the wearing module by adopting a preset control algorithm according to real-time data of a patient and a rehabilitation target and combining the motion function state of the patient; The intelligent intervention module is used for feeding back and guiding the motion data of the patient in real time, and simultaneously predicting the rehabilitation trend of the patient and adjusting the rehabilitation scheme.
2. The multi-source data fusion-based nonlinear motor load and function rehabilitation training system according to claim 1, wherein the wearing module comprises an auxiliary vest module, a multifunctional leg orthopedic module, a wearable inertial sensor and a plantar pressure detection insole; The auxiliary vest module is used for providing trunk support and posture correction functions for a patient and collecting motion data in real time; the multifunctional leg orthopedic module is used for providing corresponding functional affected leg supporting and posture correcting functions for patients in different periods and different rehabilitation stages and collecting motion data in real time; The wearable inertial sensors are respectively worn at preset joints of a patient, and are used for capturing the motion angles of the preset joints in a three-dimensional space in real time and directly outputting motion data expressed by Euler angles; the sole pressure detection insole is arranged in the patient shoe and is used for collecting and monitoring sole pressure distribution data in the movement process of the patient in real time.
3. The nonlinear motion load and function rehabilitation training system based on multi-source data fusion according to claim 2, wherein the auxiliary vest module adopts a split type structure, and comprises a vest main body, a plurality of adjustable straps, a plurality of grippers and a first IMU sensor; The adjustable binding bands are arranged at preset positions of the vest main body and used for stably fixing the vest main body on the trunk of a patient when the patient performs rehabilitation training, and meanwhile, the vest main body is connected with the multifunctional leg orthopedic module; the plurality of handles are respectively arranged at preset positions of the vest main body and used for assisting a rehabilitation therapist in stabilizing a patient in the rehabilitation training process; the first IMU sensor is arranged in the fixed position of the IMU sensor preset on the neck, the waist and the adjustable binding band of the vest main body and used for collecting the motion data of a patient in real time.
4. The multi-source data fusion-based nonlinear motion load and function rehabilitation training system according to claim 2, wherein the multi-functional leg orthotic module comprises a thigh guard, a shank guard, a multi-functional knee joint hinge, a multi-functional ankle joint hinge and a shoe body; The thigh guard plate and the shank guard plate are used for providing leg correction functions for patients and collecting leg movement data of the patients in real time; the multifunctional knee joint hinge is used for connecting the thigh guard plate and the shank guard plate and realizing the movement of the knee joint of the patient in a preset movement range; the multifunctional ankle joint hinge is used for connecting the shank guard board and the shoe body and realizing the movement of the ankle joint of a patient in a preset movement range.
5. The nonlinear motion load and function rehabilitation training system based on multi-source data fusion according to claim 4, wherein the thigh guard plate and the shank guard plate are digitally designed and integrally formed according to the anatomical contour of a human body; the inner side edges of the thigh guard plate and the shank guard plate are both subjected to smooth treatment; Standardized interfaces are reserved at the outer sides of the thigh guard plate and the shank guard plate and used for installing a second IMU sensor, and the second IMU sensor is used for collecting leg movement data of a patient in real time; The corresponding positions of the lower part of the outer side of the thigh guard plate, the upper part of the outer side of the shank guard plate and the lower part of the outer side of the shank guard plate are provided with quick-release boxes which are used for being quickly assembled and assembled with the multifunctional knee joint hinge or the multifunctional ankle joint hinge through supporting strips so as to ensure that patients with different periods and different types of dyskinesia can obtain stable lateral support and normal actions during standing and walking.
6. The multi-source data fusion-based nonlinear exercise load and function rehabilitation training system according to claim 5, wherein the branches comprise a first branch, a second branch, a third branch and a fourth branch; One ends of the first branch strip and the second branch strip are used for connecting the multifunctional knee joint hinge, the other ends of the first joint and the second joint adopt a rack structure and are used for being inserted into a quick-release box arranged on the thigh guard plate, the length of the branch strip can be adjusted according to actual requirements so as to adapt to the leg length of a patient, and the second joint is custom-designed according to the bending angle of the leg of the patient; One end of the third branch strip and one end of the fourth branch strip are used for being connected with the multifunctional ankle joint hinge, the other end of the third branch strip is used for being connected with a quick-release box arranged on the shank guard board, and the other end of the fourth branch strip is connected with the shoe body.
7. The multi-source data fusion-based nonlinear motion load and function rehabilitation training system according to claim 4, wherein the multi-functional knee joint hinge comprises a fixed knee joint hinge, a stepless adjustment knee joint hinge and a complete freedom knee joint hinge; the fixed knee joint hinge adopts a mechanical falling lock mechanism, realizes the complete locking of the knee joint through a bayonet lock and is used for ensuring that a patient obtains stable lateral support during standing and walking; the stepless adjusting knee joint hinge adopts an eccentric wheel locking mechanism and is used for realizing stepless adjustment of the knee joint moving range; The fully-free knee joint hinge adopts a bearing mechanism with a low friction coefficient and is used for realizing the free movement of the knee joint of a patient in a certain range.
8. The multi-source data fusion-based nonlinear motion load and function rehabilitation training system according to claim 7, wherein the multifunctional ankle joint hinge comprises a semi-fixed ankle joint hinge and an electrodeless hydraulic ankle joint hinge; The semi-fixed ankle joint hinge adopts a stop hinge mechanism, has the characteristic of stopping in the toe bending direction, can effectively prevent foot drop in the gait swing period, and simultaneously allows the natural dorsiflexion movement of the foot in the support period; the stepless hydraulic ankle joint adopts an intelligent combination mechanism of a stepless hydraulic adjusting module and a mechanical stop mechanism, and is used for realizing stepless adjustment of the movement range of the ankle joint.
9. The multi-source data fusion-based nonlinear motion load and function rehabilitation training system according to claim 8, wherein the combined assembly of the thigh guard, the calf guard, the multifunctional knee hinge and the multifunctional ankle hinge realizes a multifunctional leg orthopedic function, comprising: A knee-ankle semi-fixed orthosis, wherein the thigh guard plate and the shank guard plate are connected through a fixed knee joint hinge, and the semi-fixed ankle joint hinge is connected with the shank guard plate and the shoe body; The knee fixing-ankle electrodeless hydraulic orthosis is characterized in that the thigh guard plate and the shank guard plate are connected through a fixed knee joint hinge, and the semi-fixed ankle joint hinge is connected with the shank guard plate and the shoe body; a knee free-ankle semi-fixed orthosis, wherein the thigh guard plate and the shank guard plate are connected through the full free knee joint hinge, and the semi-fixed ankle joint hinge is connected with the shank guard plate and the shoe body; the knee free-ankle stepless hydraulic orthosis is realized by connecting the thigh guard plate and the shank guard plate through the full free knee joint hinge and connecting the shank guard plate and the shoe body through the stepless hydraulic ankle joint hinge; the knee stepless-ankle stepless hydraulic orthosis is realized by connecting the thigh guard plate and the shank guard plate through the stepless adjusting knee joint hinge and connecting the shank guard plate and the shoe body through the stepless adjusting knee joint hinge; A knee electrodeless-ankle semi-fixed orthosis, wherein the thigh guard plate and the shank guard plate are connected through the electrodeless adjusting knee joint hinge, and the semi-fixed ankle joint hinge is connected with the shank guard plate and the shoe body; An ankle and foot semi-fixed orthosis is realized by connecting a shank guard board and a shoe body through the semi-fixed ankle joint hinge; The ankle and foot endless hydraulic orthosis is realized by connecting a shank guard board and a shoe body through the endless hydraulic ankle joint hinge.
10. The nonlinear exercise load and function rehabilitation training system based on multi-source data fusion according to claim 2, wherein the data fusion evaluation module comprises a multi-source data fusion module and a state evaluation module, wherein the multi-source data fusion module is used for fusing acquired multi-source data, and the state evaluation module is used for comprehensively evaluating the exercise function state of a patient according to a multi-source data fusion result; The nonlinear motion load control module comprises a motion risk identification module and a control module, wherein the motion risk identification module is used for dynamically fusing a multi-source data fusion result with a three-dimensional human model, realizing the visual reconstruction of abnormal gait and pressure distribution, dynamically identifying motion risks by monitoring key biomechanical indexes in real time and ensuring that a training load is always in an individual 'safety window', and the control module is used for calculating auxiliary force provided by the multifunctional leg orthopedic module and the auxiliary vest module by adopting a preset control algorithm; The intelligent intervention module comprises a feedback guidance module, a trend prediction module and a scheme adjustment module, wherein the feedback guidance module is used for providing real-time feedback and guidance for a patient according to the movement data and the movement function state of the patient and helping the patient to train a correct movement mode, the trend prediction module is used for analyzing the movement data of the patient and predicting the rehabilitation trend of the patient by using a machine learning algorithm, and the scheme adjustment module is used for adjusting the rehabilitation scheme of the patient according to the rehabilitation trend of the patient.

Description

Nonlinear motion load and function rehabilitation training system based on multi-source data fusion Technical Field The invention belongs to the field of medical rehabilitation, relates to the technical field of intelligent intervention of dyskinesia people, and in particular relates to a nonlinear movement load and function rehabilitation training system based on multi-source data fusion. Background Cerebral apoplexy, also known as "stroke", is an acute cerebrovascular disease caused by ischemia or hypoxia of brain tissue due to blockage or rupture of cerebral blood vessels. It has the characteristics of high morbidity, high recurrence rate, high disability rate and high mortality rate, and brings heavy burden to patients, families and society. The movement dysfunction after cerebral apoplexy is one of the main problems faced by patients, the traditional rehabilitation method generally adopts a standardized training method, has limitation when coping with diversified demands and disease changes of patients, is difficult to meet individual demands of different patients, has insufficient real-time feedback, has low active participation degree in the rehabilitation process, and is easy to generate frustration or tired emotion to influence the rehabilitation effect. Therefore, the development of an intelligent system which can fuse multi-source data, provide personalized nonlinear motion load, namely dynamically adjust the motion load mode according to the real-time state of a patient and perform functional rehabilitation training has important significance. Disclosure of Invention Aiming at the problems, the invention aims to provide a nonlinear exercise load and function rehabilitation training system based on multi-source data fusion, which effectively improves the rehabilitation effect of patients with dyskinesia and improves the life quality of the patients through modularized design and intelligent intervention. In order to achieve the above purpose, the present invention adopts the following technical scheme: A nonlinear motion load and function rehabilitation training system based on multi-source data fusion comprises a wearing module, a data fusion evaluation module, a nonlinear motion load control module and an intelligent intervention module; the wearable module is used for providing training assistance for patients with dyskinesia in different periods and different rehabilitation stages, and collecting movement data and physiological state data in the training process of the patients; The data fusion evaluation module is used for fusing real-time data of various sources and comprehensively evaluating the motion function state of a patient; The nonlinear motion load control module is used for dynamically adjusting the motion load of the wearing module by adopting a preset control algorithm according to real-time data of a patient and a rehabilitation target and combining the motion function state of the patient; The intelligent intervention module is used for feeding back and guiding the motion data of the patient in real time, and simultaneously predicting the rehabilitation trend of the patient and adjusting the rehabilitation scheme. Further, the wearing module comprises an auxiliary vest module, a multifunctional leg orthopedic module, a wearable inertial sensor and a plantar pressure detection insole; The auxiliary vest module is used for providing trunk support and posture correction functions for a patient and collecting motion data in real time; the multifunctional leg orthopedic module is used for providing corresponding functional affected leg supporting and posture correcting functions for patients in different periods and different rehabilitation stages and collecting motion data in real time; The wearable inertial sensors are respectively worn at preset joints of a patient, and are used for capturing the motion angles of the preset joints in a three-dimensional space in real time and directly outputting motion data expressed by Euler angles; the sole pressure detection insole is arranged in the patient shoe and is used for collecting and monitoring sole pressure distribution data in the movement process of the patient in real time. Further, the auxiliary vest module adopts a split structure and comprises a vest main body, a plurality of adjustable binding bands, a plurality of grippers and a first IMU sensor; The adjustable binding bands are arranged at preset positions of the vest main body and used for stably fixing the vest main body on the trunk of a patient when the patient performs rehabilitation training, and meanwhile, the vest main body is connected with the multifunctional leg orthopedic module; the plurality of handles are respectively arranged at preset positions of the vest main body and used for assisting a rehabilitation therapist in stabilizing a patient in the rehabilitation training process; the first IMU sensor is arranged in the fixed position of the IMU sensor prese