技术领域technical field
本发明涉及医疗设备技术领域，特别涉及一种互动式康复系统、互动式康复装置及互动式康复方法。The invention relates to the technical field of medical equipment, in particular to an interactive rehabilitation system, an interactive rehabilitation device and an interactive rehabilitation method.
背景技术Background technique
康复治疗对于减轻伤病造成的残疾、减少家庭和社会负担、提高病患人员日常生活与活动能力具有重大意义，特别是对于中风、偏瘫等不能远足或者是生活无法自理的疾病患者，康复治疗具有积极的意义。Rehabilitation treatment is of great significance for reducing disability caused by injury, reducing family and social burden, and improving patients' daily life and activity ability, especially for stroke, hemiplegia and other diseases that cannot go hiking or can't take care of themselves. Rehabilitation treatment is of great significance. positive meaning.
目前的康复治疗过程，主要靠患者的自发运动来实现复健，由于复健过程中缺少外界环境的激励，并且，患者自发的运动往往反复无聊且缺乏科学性和针对性，所以，目前，康复治疗的效率往往很低，最终康复的效果也往往很差。The current rehabilitation treatment process mainly relies on the patient's spontaneous movement to achieve rehabilitation. Due to the lack of external environment incentives in the rehabilitation process, and the patient's spontaneous movement is often repetitive and boring and lacks scientific and pertinence. Therefore, at present, rehabilitation The efficiency of treatment is often very low, and the effect of final recovery is often poor.
发明内容Contents of the invention
本发明提供了一种互动式康复系统、互动式康复装置及互动式康复方法，用以提高病患人员康复治疗的效率。The invention provides an interactive rehabilitation system, an interactive rehabilitation device and an interactive rehabilitation method, which are used to improve the efficiency of rehabilitation treatment of patients.
为达到上述目的，本发明提供以下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种互动式康复系统，包括：An interactive rehabilitation system including:
肌动力检测模块，用于检测用户肌电信号，并根据所述肌电信号生成运动选项指令；Muscle power detection module, used to detect the user's electromyographic signal, and generate motion option instructions according to the electromyographic signal;
选控模块，用于根据用户选择的运动选项，生成针对所述运动选项的虚拟图像指令；A selection control module, configured to generate a virtual image instruction for the exercise option according to the exercise option selected by the user;
显示模块，与所述肌动力检测模块和所述选控模块信号连接，用于根据所述运动选项指令生成并显示相应的供用户选择的运动选项；以及，根据所述虚拟图像指令生成并显示相应的虚拟运动图像。A display module, signal-connected to the muscle power detection module and the selection control module, for generating and displaying corresponding exercise options for the user to select according to the exercise option instruction; and generating and displaying according to the virtual image instruction Corresponding virtual moving image.
上述互动式康复系统中，首先，可以通过肌动力检测模块检测用户的肌电信号以对用户的肌动力强度进行评估，然后通过显示模块可以生成并显示与用户肌动力强度适合的运动选项，因此，该互动式康复系统可以针对用户身体状况提供有效的运动方式以供用户选择；其次，该互动式康复系统的选控模块可以检测用户对运动选项的选择信号，然后通过显示模块可以生成并显示与所选运动选项相应的虚拟运动图像，该虚拟图像的场景可以使用户沉浸其中以起到激励用户进行运动的作用。综上所述，上述互动式康复系统可以根据用户身体状况为用户提供合适的运动选项，具有科学性和针对性，并且，通过生成虚拟运动场景可以激励用户进行康复运动，进而可以增强康复运动的乐趣、提升用户的康复信心；因此，上述互动式康复系统可以很大程度上提高病患人员康复治疗的效率。In the above-mentioned interactive rehabilitation system, first, the user's myoelectric signal can be detected by the muscle power detection module to evaluate the user's muscle power strength, and then the display module can generate and display exercise options suitable for the user's muscle power strength, so , the interactive rehabilitation system can provide effective exercise methods for the user to choose according to the physical condition of the user; secondly, the selection control module of the interactive rehabilitation system can detect the user's selection signal for the exercise option, and then the display module can generate and display A virtual moving image corresponding to the selected exercise option, and the scene of the virtual image can immerse the user in it to motivate the user to exercise. To sum up, the above-mentioned interactive rehabilitation system can provide users with suitable exercise options according to their physical conditions, which is scientific and pertinent. Moreover, by generating virtual exercise scenes, users can be encouraged to perform rehabilitation exercises, which in turn can enhance the effectiveness of rehabilitation exercises. Fun and enhance the user's confidence in rehabilitation; therefore, the above-mentioned interactive rehabilitation system can greatly improve the efficiency of rehabilitation treatment for patients.
优选地，所述肌动力检测模块，包括：检测单元，用于获取用户肌电信号；评价单元，用于根据所述肌电信号确定肌体类型和肌动力强度等级，并根据所述肌体类型和肌动力强度等级生成运动选项指令。Preferably, the muscle power detection module includes: a detection unit for acquiring user electromyographic signals; an evaluation unit for determining the body type and muscle power intensity level according to the electromyographic signals, and according to the body type and The muscle power level generates exercise option commands.
优选地，所述肌动力检测模块，还包括：第一存储单元，用于预存储人体各部分的肌电信号；所述评价单元，具体用于将所述用户肌电信号与所述预存储的人体各部分肌电信号进行比对，并根据比对结果确定肌体类型和肌动力强度等级。Preferably, the muscle power detection module further includes: a first storage unit for pre-storing the myoelectric signals of various parts of the human body; the evaluation unit is specifically used for combining the user's myoelectric signals with the Compare the EMG signals of various parts of the human body, and determine the body type and muscle power level according to the comparison results.
优选地，所述选控模块，包括：图像采集单元，用于采集用户手势图像；分析单元，用于根据所述用户手势图像确定用户所选择的运动选项，并生成与所述运动选项对应的虚拟图像指令。Preferably, the selection and control module includes: an image acquisition unit, configured to acquire user gesture images; an analysis unit, configured to determine the motion option selected by the user according to the user gesture image, and generate a motion option corresponding to the motion option Virtual image command.
优选地，所述选控模块，还包括：第二存储单元，用于预存储手势图像；所述分析单元，具体用于将所述用户手势图像与所述预存储的手势图像进行比对，并根据比对结果确定用户选择的运动选项。Preferably, the selection and control module further includes: a second storage unit, configured to pre-store gesture images; and the analysis unit, specifically configured to compare the user gesture image with the pre-stored gesture images, And determine the exercise option selected by the user according to the comparison result.
优选地，所述图像采集单元，还用于采集用户肌体图像；所述显示模块，具体用于：根据所述虚拟图像指令生成并显示所述用户肌体图像以及相应的虚拟运动场景。Preferably, the image acquisition unit is further configured to acquire an image of the user's body; the display module is specifically configured to: generate and display the image of the user's body and a corresponding virtual motion scene according to the virtual image instruction.
优选地，所述互动式康复系统还包括和所述选控模块信号连接的辅助运动模块，用于根据所述虚拟图像指令辅助用户肌体运动。Preferably, the interactive rehabilitation system further includes an auxiliary movement module signal-connected to the selection control module, for assisting the user's body movement according to the virtual image instruction.
一种互动式康复设备，包括上述任一技术方案中所述的互动式康复系统。An interactive rehabilitation device, including the interactive rehabilitation system described in any of the above technical solutions.
优选地，所述互动式康复设备还包括身体佩戴装置和头戴装置，其中，所述身体佩戴装置中设有所述肌动力检测模块；所述头戴装置中设有所述显示模块和选控模块。Preferably, the interactive rehabilitation equipment further includes a body-worn device and a head-worn device, wherein the muscle power detection module is set in the body-worn device; the display module and the optional display module are set in the head-worn device control module.
一种基于上述任一技术方案中所述的互动式康复系统的互动式康复方法，包括如下步骤：An interactive rehabilitation method based on the interactive rehabilitation system described in any of the above technical solutions, comprising the following steps:
检测用户肌电信号，并根据所述肌电信号生成运动选项指令；Detecting the user's electromyographic signal, and generating an exercise option instruction according to the electromyographic signal;
根据所述运动选项指令生成并显示相应的供用户选择的运动选项；generating and displaying corresponding exercise options for the user to select according to the exercise option instruction;
根据用户所选择的运动选项，生成针对所述运动选项的虚拟图像指令；generating a virtual image instruction for the exercise option according to the exercise option selected by the user;
根据所述虚拟图像指令生成并显示相应的虚拟运动图像。A corresponding virtual moving image is generated and displayed according to the virtual image instruction.
优选地，所述检测用户肌电信号，并根据所述肌电信号生成运动选项指令，具体包括以下步骤：获取用户肌电信号；根据所述肌电信号确定肌体类型和肌动力强度等级；根据所述肌体类型和肌动力强度等级生成运动选项指令。Preferably, the detecting the user's electromyographic signal and generating the exercise option instruction according to the electromyographic signal specifically includes the following steps: obtaining the user's electromyographic signal; determining the body type and muscle power level according to the electromyographic signal; The muscle type and muscle power level generate exercise option instructions.
优选地，所述根据用户肌电信号确定肌体类型和肌动力强度等级，具体包括：将所述用户肌电信号与预存的人体各部分肌电信号进行比对，并根据比对结果确定用户的肌体类型和肌动力强度等级。Preferably, the determining the body type and muscle power level according to the user's electromyographic signal specifically includes: comparing the user's electromyographic signal with the pre-stored electromyographic signals of various parts of the human body, and determining the user's body type according to the comparison result. Muscle type and muscle power level.
优选地，所述根据用户选择的运动选项生成针对所述运动选项的虚拟图像指令，具体包括以下步骤：采集用户手势图像；根据所述用户手势图像确定用户选择的运动选项；生成针对所述运动选项的虚拟图像指令。Preferably, the generating a virtual image instruction for the exercise option according to the exercise option selected by the user specifically includes the following steps: collecting a user gesture image; determining the exercise option selected by the user according to the user gesture image; generating an instruction for the exercise Options virtual image directive.
优选地，所述根据用户手势图像确定用户选择的运动选项，包括：将所述用户手势图像与预存的手势图像进行比对，并根据比对结果确定用户手势图像所对应的运动选项。Preferably, the determining the exercise option selected by the user according to the user gesture image includes: comparing the user gesture image with a pre-stored gesture image, and determining the exercise option corresponding to the user gesture image according to the comparison result.
优选地，所述根据虚拟图像指令生成并显示相应的虚拟运动图像，具体包括：采集用户肌体图像；根据所述虚拟图像指令生成并显示所述用户肌体图像以及相应的虚拟运动场景。Preferably, said generating and displaying corresponding virtual motion images according to virtual image instructions specifically includes: collecting user body images; generating and displaying said user body images and corresponding virtual motion scenes according to said virtual image instructions.
优选地，所述互动式康复方法还包括：根据所述虚拟图像指令辅助用户肌体运动。Preferably, the interactive rehabilitation method further includes: assisting the user's body movement according to the virtual image instruction.
附图说明Description of drawings
图1为本发明实施例提供的一种互动式康复设备的结构示意图；Fig. 1 is a schematic structural diagram of an interactive rehabilitation device provided by an embodiment of the present invention;
图2为本发明实施例提供的一种互动式康复设备中肌动力检测模块的工作流程图；Fig. 2 is a working flow diagram of the muscular power detection module in an interactive rehabilitation device provided by an embodiment of the present invention;
图3为本发明实施例提供的一种互动式康复设备中选控模块的工作流程图；Fig. 3 is a working flow chart of the selection and control module in an interactive rehabilitation device provided by an embodiment of the present invention;
图4为本发明实施例提供的一种互动式康复方法的流程图；Fig. 4 is a flowchart of an interactive rehabilitation method provided by an embodiment of the present invention;
图5为本发明另一实施例提供的一种互动式康复方法的流程图。Fig. 5 is a flowchart of an interactive rehabilitation method provided by another embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
请参考图1～图5。Please refer to Figure 1 to Figure 5.
如图1所示，本发明实施例提供的一种互动式康复系统，包括：As shown in Figure 1, an interactive rehabilitation system provided by an embodiment of the present invention includes:
肌动力检测模块1，用于检测用户肌电信号，并根据该肌电信号生成运动选项指令；The muscle power detection module 1 is used to detect the user's myoelectric signal, and generate an exercise option instruction according to the myoelectric signal;
选控模块2，用于根据用户选择的运动选项，生成针对该运动选项的虚拟图像指令；The selection control module 2 is used to generate a virtual image instruction for the exercise option according to the exercise option selected by the user;
显示模块3，与肌动力检测模块和选控模块信号连接，用于根据肌动力检测模块发送来的运动选项指令生成并显示相应的运动选项；以及，根据选控模块发送来的虚拟图像指令生成并显示相应的供用户选择的虚拟运动图像。The display module 3 is connected to the signal of the muscle power detection module and the selection and control module, and is used to generate and display corresponding motion options according to the motion option instructions sent by the muscle power detection module; and, generate according to the virtual image instructions sent by the selection and control module And display the corresponding virtual moving image for the user to choose.
上述互动式康复系统中，首先，可以通过肌动力检测模块1检测用户的肌电信号以对用户的肌动力强度进行评估，然后通过显示模块3可以生成并显示与用户肌动力强度适合的运动选项，因此，该互动式康复系统可以针对用户身体状况提供有效的运动方式以供用户选择；其次，该互动式康复系统的选控模块2可以检测用户对运动选项的选择信号，然后通过显示模块3可以生成并显示与所选运动选项相应的虚拟运动图像，该虚拟图像的场景可以使用户沉浸其中以起到激励用户进行运动的作用。综上所述，上述互动式康复系统可以根据用户身体状况为用户提供合适的运动选项，具有科学性和针对性，并且，通过生成虚拟运动场景可以激励用户进行康复运动，进而可以增强康复运动的乐趣、提升用户的康复信心；因此，上述互动式康复系统可以很大程度上提高病患人员康复治疗的效率。In the above-mentioned interactive rehabilitation system, firstly, the user's myoelectric signal can be detected by the muscle power detection module 1 to evaluate the user's muscle power strength, and then the display module 3 can generate and display exercise options suitable for the user's muscle power strength , therefore, the interactive rehabilitation system can provide effective exercise methods for the user to choose according to the physical condition of the user; secondly, the selection control module 2 of the interactive rehabilitation system can detect the user's selection signal for the exercise option, and then through the display module 3 A virtual moving image corresponding to the selected exercise option can be generated and displayed, and the scene of the virtual image can immerse the user in it so as to motivate the user to exercise. To sum up, the above-mentioned interactive rehabilitation system can provide users with suitable exercise options according to their physical conditions, which is scientific and pertinent. Moreover, by generating virtual exercise scenes, users can be encouraged to perform rehabilitation exercises, which in turn can enhance the effectiveness of rehabilitation exercises. Fun and enhance the user's confidence in rehabilitation; therefore, the above-mentioned interactive rehabilitation system can greatly improve the efficiency of rehabilitation treatment for patients.
如图1所示，一种具体的实施例中，肌动力检测模块1可以包括检测单元11和评价单元12，其中：As shown in Figure 1, in a specific embodiment, the muscle power detection module 1 may include a detection unit 11 and an evaluation unit 12, wherein:
检测单元11用于获取用户肌电信号；The detection unit 11 is used to obtain the user's electromyographic signal;
评价单元12用于根据获取的用户肌电信号确定所测肌体的类型和肌动力强度等级，并根据肌体类型和肌动力强度等级生成运动选项指令。The evaluation unit 12 is configured to determine the type of the measured body and the level of muscle power strength according to the acquired user's electromyographic signal, and generate exercise option instructions according to the type of body body and the level of muscle power strength.
如图1所示，进一步地，一种具体的实施例中，肌动力检测模块1还可以包括用于预存储人体各部分肌电信号的第一存储单元13；而评价单元12可以通过将用户肌动力强度数据与第一存储单元13预存储的人体各部分肌电信号进行比对，并根据比对结果确定肌体类型和肌动力强度等级。As shown in Figure 1, further, in a specific embodiment, the muscle power detection module 1 may also include a first storage unit 13 for pre-storing the electromyographic signals of various parts of the human body; The muscle power strength data is compared with the electromyographic signals of various parts of the human body pre-stored in the first storage unit 13, and the body type and muscle power strength level are determined according to the comparison result.
具体地，例如，第一存储单元13预存储的人体各部分肌电信号按肌体类型可以分为肩膀、上肢、大腿、小腿等部位信号，按肌动力强度等级可以分为强、中、弱三个等级的信号；当评价单元12进行信号的比对分析，确定肌体类型为上肢、肌动力强度等级为弱时，则可以生成对肌动力强度要求较低的相应几项运动的运动选项指令，如相应的运动可以包括握杯训练、倒水训练、写字训练、太极训练等；然后，根据上述几项运动的运动选项指令，显示模块3可以生成并显示上述运动选项以供用户进行选择。Specifically, for example, the electromyographic signals of various parts of the human body pre-stored by the first storage unit 13 can be divided into signals of shoulders, upper limbs, thighs, calves and other parts according to the body type, and can be divided into strong, medium and weak according to the level of muscle power. When the evaluation unit 12 compares and analyzes the signals and determines that the body type is upper limbs and the muscle power level is weak, it can generate motion option instructions for several sports that require relatively low muscle power. For example, the corresponding exercise may include cup holding training, pouring water training, writing training, Tai Chi training, etc.; then, according to the exercise option instructions of the above-mentioned several sports, the display module 3 may generate and display the above-mentioned exercise options for the user to choose.
如图2所示，在上述实施例的基础上，一种具体的实施例中，肌动力检测模块1的工作流程可以包括：As shown in Figure 2, on the basis of the foregoing embodiments, in a specific embodiment, the workflow of the muscle power detection module 1 may include:
步骤S101，采集用户的肌电信号；Step S101, collecting the user's electromyographic signal;
步骤S102，将采集到的肌电信号与预存的人体各部分肌电信号进行匹配；Step S102, matching the collected EMG signal with the pre-stored EMG signal of each part of the human body;
若采集到的肌电信号与预存的某一肌电信号匹配成功时，则依次执行以下步骤：If the collected EMG signal is successfully matched with a pre-stored EMG signal, the following steps are performed in sequence:
步骤S103，确定与采集到的肌电信号匹配成功的预存肌电信号所对应的肢体类型和肌动力强度等级，并查找该肢体类型和肌动力强度等级对应的运动选项控制指令；Step S103, determine the limb type and muscle power intensity level corresponding to the pre-stored myoelectric signal that successfully matches the collected myoelectric signal, and search for the exercise option control instruction corresponding to the limb type and muscle power intensity level;
步骤S104，将运动选项控制指令发送至显示模块，以控制显示模块显示相应的运动选项；Step S104, sending the exercise option control command to the display module to control the display module to display the corresponding exercise option;
若采集到的肌电信号与预存的任一肌电信号都不匹配，则重新执行步骤S101。If the collected myoelectric signal does not match any pre-stored myoelectric signal, step S101 is re-executed.
如图1所示，在上述实施例的基础上，一种具体的实施例中，选控模块2可以包括图像采集单元21和分析单元22，其中：As shown in FIG. 1 , on the basis of the above embodiments, in a specific embodiment, the selection and control module 2 may include an image acquisition unit 21 and an analysis unit 22, wherein:
图像采集单元21用于采集用户手势图像；具体的，该图像采集单元21可以是摄像头、拍照镜头或图像传感器等具有图像采集功能的设备。The image acquisition unit 21 is used to acquire user gesture images; specifically, the image acquisition unit 21 may be a device with an image acquisition function such as a camera, a camera lens, or an image sensor.
分析单元22用于根据用户手势图像确定用户选择的运动选项，并生成与运动选项对应的虚拟图像指令。The analysis unit 22 is configured to determine the exercise option selected by the user according to the user gesture image, and generate a virtual image instruction corresponding to the exercise option.
如图1所示，进一步地，一种具体的实施例中，选控模块2还可以包括用于预存储手势图像的第二存储单元23；而分析单元22可以通过将用户手势图像与第二存储单元23预存储的手势图像进行比对，并根据比对结果确定用户选择的运动选项。As shown in FIG. 1 , further, in a specific embodiment, the selection and control module 2 may also include a second storage unit 23 for pre-storing gesture images; and the analysis unit 22 may combine the user gesture images with the second The storage unit 23 compares the gesture images pre-stored, and determines the exercise option selected by the user according to the comparison result.
具体地，例如，用户如果想选择握杯训练，则可以通过作出握杯的手势来进行选择，此时，分析单元22可以通过将获取的图像中用户手势轮廓与预存储图像中的手势轮廓进行比对来确定用户选择了握杯训练选项，并生成与握杯训练运动选项对应的虚拟图像指令；然后，根据该虚拟图像指令，显示模块3可以生成并显示相应的虚拟运动图像，该虚拟运动图像中可以包括如桌子、杯子等物体的虚拟场景，也可以为手部握杯的动画图像。Specifically, for example, if the user wants to choose cup-holding training, he can make a selection by making a cup-holding gesture. Compare to determine that the user has selected the cup-holding training option, and generate a virtual image instruction corresponding to the cup-holding training exercise option; then, according to the virtual image instruction, the display module 3 can generate and display a corresponding virtual motion image, the virtual motion The images may include virtual scenes of objects such as tables and cups, or may be animated images of hands holding cups.
如图1所示，在上述实施例的基础上，一种具体的实施例中，上述图像采集单元21还可以用于采集用户肌体图像；该用户肌体图像可以是用户整个身体的图像也可以是评价单元12所确定的肌体部位的图像；而显示模块3在根据虚拟图像指令生成并显示相应虚拟场景或者动画图像时，可以同时生成并显示用户的肌体图像，即虚拟运动图像中不仅可以包括相应的虚拟场景或动画图像，还可以包括用户的肌体图像；进而，可以使用户能够观察到自身肌体在虚拟场景中的动作和作用效果，从而，可以使用户感觉到康复运动中的进步和乐趣，提升用户进行康复运动的毅力和信心。As shown in Figure 1, on the basis of the above-mentioned embodiment, in a specific embodiment, the above-mentioned image acquisition unit 21 can also be used to acquire the user's body image; the user's body image can be an image of the user's entire body or can The image of the body part determined by the evaluation unit 12; and when the display module 3 generates and displays the corresponding virtual scene or animation image according to the virtual image instruction, it can simultaneously generate and display the user's body image, that is, the virtual moving image can not only include the corresponding The virtual scene or animated image of the user's body image can also include the user's body image; furthermore, the user can observe the action and effect of his body in the virtual scene, so that the user can feel the progress and fun of the rehabilitation exercise, Improve the user's perseverance and confidence in performing rehabilitation exercises.
如图1所示，在上述各实施例的基础上，一种具体的实施例中，本发明的互动式康复系统还可以包括和选控模块2信号连接的辅助运动模块4，该辅助运动模块4可以根据选控模块2生成的虚拟图像指令辅助用户进行肌体运动；具体地，辅助运动模块4可以包括如机械臂等机械结构，通过辅助运动模块4可以帮助难以实现自主运动的用户进行康复运动，进而以提高康复治疗的效率、并提升用户的信心。As shown in Figure 1, on the basis of the above-mentioned embodiments, in a specific embodiment, the interactive rehabilitation system of the present invention can also include an auxiliary motion module 4 connected to the selection control module 2 by signal, the auxiliary motion module 4. According to the virtual image instructions generated by the selection and control module 2, the user can be assisted in performing body movements; specifically, the auxiliary movement module 4 can include mechanical structures such as mechanical arms, and the auxiliary movement module 4 can help users who are difficult to achieve autonomous movement to perform rehabilitation exercises , so as to improve the efficiency of rehabilitation treatment and enhance the confidence of users.
如图3所示，在上述实施例的基础上，一种具体的实施例中，选控模块2的工作流程可以包括：As shown in Figure 3, on the basis of the above-mentioned embodiments, in a specific embodiment, the workflow of the selection and control module 2 may include:
步骤S201，采集用户手势图像；Step S201, collecting user gesture images;
步骤S202，根据用户手势图像获取用户手势边缘轮廓和手势运动轨迹信息；Step S202, acquiring user gesture edge contour and gesture trajectory information according to the user gesture image;
步骤S203，将获取的手势边缘轮廓和手势运动轨迹信息与预存的手势边缘轮廓和手势运动轨迹信息进行匹配；Step S203, matching the acquired gesture edge profile and gesture motion track information with the pre-stored gesture edge profile and gesture motion track information;
若获取的手势边缘轮廓和手势运动轨迹信息与预存的某一手势边缘轮廓和手势运动轨迹信息匹配成功，则依次执行以下步骤：If the acquired gesture edge profile and gesture motion track information are successfully matched with a pre-stored gesture edge profile and gesture motion track information, the following steps are performed in sequence:
步骤S204，查找与获取的手势边缘轮廓和手势运动轨迹信息匹配成功的预存手势边缘轮廓和手势运动轨迹信息所对应的虚拟图像控制指令；Step S204, searching for the virtual image control instruction corresponding to the pre-stored gesture edge profile and gesture motion track information that successfully match the acquired gesture edge profile and gesture motion track information;
步骤S205，将虚拟图像控制指令发送至显示模块、以控制显示模块显示虚拟场景和用户的手势图像，同时，将该虚拟图像控制指令发送至辅助运动模块、以控制辅助运动模块辅助用户进行运动；Step S205, sending the virtual image control instruction to the display module to control the display module to display the virtual scene and the user's gesture image, and at the same time, sending the virtual image control instruction to the auxiliary exercise module to control the auxiliary exercise module to assist the user to exercise;
若获取的手势边缘轮廓和手势运动轨迹信息与预存的任一手势边缘轮廓和手势运动轨迹信息都不匹配，则重新执行步骤S201。If the acquired gesture edge profile and gesture motion track information do not match any of the pre-stored gesture edge profile and gesture motion track information, step S201 is re-executed.
如图1所示，本发明实施例还提供了一种互动式康复设备，该互动式康复设备包括上述任一实施例中的互动式康复系统。As shown in FIG. 1 , an embodiment of the present invention also provides an interactive rehabilitation device, which includes the interactive rehabilitation system in any of the above embodiments.
一种具体的实施例中，上述互动式康复设备还可以包括身体佩戴装置5和头戴装置6，其中，In a specific embodiment, the above-mentioned interactive rehabilitation equipment may also include a body-mounted device 5 and a head-mounted device 6, wherein,
互动式康复系统的肌动力检测模块1可以设置于上述身体佩戴装置5中；The muscular power detection module 1 of the interactive rehabilitation system can be set in the above-mentioned body-worn device 5;
互动式康复系统的选控模块2和显示模块3可以设置于上述头戴装置6中。The selection control module 2 and the display module 3 of the interactive rehabilitation system can be set in the above-mentioned head-mounted device 6 .
进一步地，互动式康复系统中的辅助运动模块4也可以设置于身体佩戴装置5中。Further, the auxiliary movement module 4 in the interactive rehabilitation system can also be set in the body wearing device 5 .
一种优选的实施例中，身体佩戴装置5中的功能模块与头戴装置6中的功能模块之间可通过无线连接，如利用WiFi、蓝牙、ZigBee等无线通信连接。In a preferred embodiment, the functional modules in the body-worn device 5 and the functional modules in the head-worn device 6 can be connected through wireless communication, such as using WiFi, Bluetooth, ZigBee and other wireless communication connections.
进一步优选地，身体佩戴装置5可以是部分肢体佩戴的机械结构，也可以是全身佩戴的机械结构。头戴装置6可以是轻便型的智能眼镜，也可以是轻型的头盔。Further preferably, the body-mounted device 5 may be a mechanical structure worn by part of the body, or a mechanical structure worn by the whole body. The head-mounted device 6 can be lightweight smart glasses, or a lightweight helmet.
基于本发明提供的互动式康复系统，本发明实施例还提供了一种互动式康复方法，如图4所示，该互动式康复方法包括如下步骤：Based on the interactive rehabilitation system provided by the present invention, the embodiment of the present invention also provides an interactive rehabilitation method, as shown in Figure 4, the interactive rehabilitation method includes the following steps:
步骤S301，检测用户肌电信号，并根据该肌电信号生成运动选项指令；Step S301, detecting the user's electromyographic signal, and generating an exercise option instruction according to the electromyographic signal;
步骤S302，根据运动选项指令生成并显示相应的供用户选择的运动选项；Step S302, generating and displaying corresponding exercise options for the user to select according to the exercise option instruction;
步骤S303，根据用户所选择的运动选项，生成针对该运动选项的虚拟图像指令；Step S303, according to the exercise option selected by the user, generate a virtual image instruction for the exercise option;
步骤S304，根据虚拟图像指令生成并显示相应的虚拟运动图像。Step S304, generating and displaying a corresponding virtual moving image according to the virtual image instruction.
上述互动式康复方法，首先，通过步骤S301和步骤S302，可以实现针对用户身体状况提供有效的运动方式以供用户进行选择；其次，通过步骤S303和步骤S304可以生成并显示用户所选运动选项的虚拟运动图像，以使用户可以沉浸在虚拟场景中进行运动。综上所述，上述互动式康复方法可以根据用户身体状况为用户提供合适的运动选项，具有科学性和针对性；并且，通过生成虚拟运动场景可以激励用户进行康复运动，进而可以增强康复运动的乐趣、提升用户的康复信心；因此，上述互动式康复方法可以很大程度上提高病患人员康复治疗的效率。The above-mentioned interactive rehabilitation method, first, through steps S301 and S302, can provide effective exercise methods for the user to choose according to the physical condition of the user; secondly, through steps S303 and S304, can generate and display the exercise options selected by the user Virtual moving images, so that users can immerse themselves in virtual scenes for sports. To sum up, the above interactive rehabilitation method can provide users with suitable exercise options according to their physical conditions, which is scientific and pertinent; moreover, by generating virtual exercise scenes, users can be encouraged to perform rehabilitation exercises, which in turn can enhance the effectiveness of rehabilitation exercises. Fun and enhance the user's confidence in rehabilitation; therefore, the above-mentioned interactive rehabilitation method can greatly improve the efficiency of rehabilitation for patients.
如图4所示，一种具体的实施例中，步骤S301，检测用户肌电信号，并根据该肌电信号生成运动选项指令，具体可以包括以下步骤：As shown in Figure 4, in a specific embodiment, in step S301, the user's electromyographic signal is detected, and an exercise option instruction is generated according to the electromyographic signal, which may specifically include the following steps:
获取用户肌电信号；Obtain the user's electromyographic signal;
根据获取的肌电信号确定肌体类型和肌动力强度等级；Determine the body type and muscle power level according to the acquired electromyographic signals;
根据肌体类型和肌动力强度等级生成运动选项指令。Generate exercise option commands based on body type and muscle power level.
在上述实施例的基础上，一种具体的实施例中，根据获取的肌电信号确定肌体类型和肌动力强度等级，可以通过以下方式实现：On the basis of the above-mentioned embodiments, in a specific embodiment, the determination of the body type and the level of muscle power strength according to the acquired electromyographic signals can be achieved in the following manner:
将获取的肌电信号与预存的人体各部分肌电信号进行比对，并根据比对结果确定用户的肌体类型和肌动力强度等级。Compare the acquired electromyographic signals with the pre-stored electromyographic signals of various parts of the human body, and determine the user's body type and muscle power level according to the comparison results.
具体地，例如，预存储的人体各部分肌电信号，按肌体类型可以分为肩膀、上肢、大腿、小腿等部位信号，按肌动力强度等级可以分为强、中、弱三个等级信号；当通过比对分析确定肌体类型为上肢、肌动力强度等级为弱时，则可以生成对肌动力强度要求较低的相应几项运动的运动选项指令，如相应的运动可以包括握杯训练、倒水训练、写字训练、太极训练等；然后，通过生成并显示上述运动选项以提供给用户进行选择。Specifically, for example, the pre-stored electromyographic signals of various parts of the human body can be divided into signals of shoulders, upper limbs, thighs, calves and other parts according to the type of body, and can be divided into three grades of signals: strong, medium and weak according to the level of muscle power; When it is determined through comparison and analysis that the body type is the upper limbs and the muscle power level is weak, then the exercise option instructions for several sports that require relatively low muscle power strength can be generated. For example, the corresponding sports can include cup training, inverted Water training, writing training, Tai Chi training, etc.; then, the above exercise options are generated and displayed for the user to choose.
如图2和图4所示，在上述实施例的基础上，一种具体的实施例中，步骤S301的工作流程可以包括：As shown in Figure 2 and Figure 4, on the basis of the above embodiments, in a specific embodiment, the workflow of step S301 may include:
步骤S101，采集用户的肌电信号；Step S101, collecting the user's electromyographic signal;
步骤S102，将采集到的肌电信号与预存的人体各部分肌电信号进行匹配；Step S102, matching the collected EMG signal with the pre-stored EMG signal of each part of the human body;
若采集到的肌电信号与预存的某一肌电信号匹配成功时，则依次执行以下步骤：If the collected EMG signal is successfully matched with a pre-stored EMG signal, the following steps are performed in sequence:
步骤S103，确定与采集到的肌电信号匹配成功的预存肌电信号所对应的肢体类型和肌动力强度等级，并查找该肢体类型和肌动力强度等级对应的运动选项控制指令；Step S103, determine the limb type and muscle power intensity level corresponding to the pre-stored myoelectric signal that successfully matches the collected myoelectric signal, and search for the exercise option control instruction corresponding to the limb type and muscle power intensity level;
步骤S104，将运动选项控制指令发送至显示模块，以控制显示模块显示相应的运动选项；Step S104, sending the exercise option control command to the display module to control the display module to display the corresponding exercise option;
若采集到的肌电信号与预存的任一肌电信号都不匹配，则重新执行步骤S101。If the collected myoelectric signal does not match any pre-stored myoelectric signal, step S101 is re-executed.
如图4所示，在上述各实施例的基础上，一种具体的实施例中，步骤S303，根据用户所选择的运动选项，生成针对该运动选项的虚拟图像指令，具体可以包括以下步骤：As shown in Figure 4, on the basis of the above-mentioned embodiments, in a specific embodiment, step S303, according to the exercise option selected by the user, generates a virtual image instruction for the exercise option, which may specifically include the following steps:
采集用户手势图像；Collect user gesture images;
根据用户手势图像确定用户选择的运动选项；Determining the motion option selected by the user based on the image of the user gesture;
生成针对该运动选项的虚拟图像指令。Generate virtual image instructions for the motion option.
在上述实施例的基础上，一种具体的实施例中，根据用户手势图像确定用户选择的运动选项，可以通过以下方式实现：On the basis of the above-mentioned embodiments, in a specific embodiment, determining the motion option selected by the user according to the user gesture image can be implemented in the following manner:
将用户手势图像与预存的手势图像进行比对，并根据比对结果确定用户手势图像所对应的运动选项。The gesture image of the user is compared with the gesture image stored in advance, and the exercise option corresponding to the gesture image of the user is determined according to the comparison result.
具体地，例如，用户如果想选择握杯训练时，可以通过作出握杯的手势来进行选择；此时，可以通过将采集的用户手势轮廓与预存储的手势轮廓进行比对来确定用户选择了握杯训练选项；然后，可以通过生成与握杯训练运动选项对应的虚拟图像指令，并根据该虚拟图像指令生成并显示相应的虚拟运动图像，具体地，该与握杯训练选项对应的虚拟运动图像中可以包括如桌子、杯子等物体的虚拟场景，也可以为手部握杯的动画图像。Specifically, for example, if the user wants to choose cup holding training, he can make a selection by making a cup holding gesture; at this time, it can be determined by comparing the collected user gesture profile with the pre-stored gesture profile Cup-holding training option; then, by generating a virtual image instruction corresponding to the cup-holding training exercise option, and generating and displaying a corresponding virtual motion image according to the virtual image instruction, specifically, the virtual movement corresponding to the cup-holding training option The images may include virtual scenes of objects such as tables and cups, or may be animated images of hands holding cups.
如图2所示，在上述各实施例的基础上，一种具体的实施例中，步骤S304，根据虚拟图像指令生成并显示相应的虚拟运动图像，具体可以包括：As shown in Figure 2, on the basis of the above-mentioned embodiments, in a specific embodiment, step S304, generating and displaying a corresponding virtual moving image according to a virtual image instruction, may specifically include:
采集用户肌体图像；Collect images of the user's body;
根据虚拟图像指令生成并显示用户肌体图像以及与用户所选运动选项相应的虚拟运动场景；即虚拟运动图像中不仅可以包括虚拟场景或动画图像等虚拟运动场景，也可以包括用户的肌体图像；进而，可以使用户能够观察到自身肌体在虚拟场景中的动作和作用效果，从而，可以使用户感觉到康复运动中的进步和乐趣，提升用户进行康复运动的毅力和信心。Generate and display the user's body image and the virtual motion scene corresponding to the motion option selected by the user according to the virtual image instruction; that is, the virtual motion image can not only include virtual motion scenes such as virtual scenes or animation images, but also include the user's body image; and , enabling the user to observe the actions and effects of their own body in the virtual scene, thereby enabling the user to feel the progress and fun of the rehabilitation exercise, and enhancing the user's perseverance and confidence in performing the rehabilitation exercise.
在上述各实施例的基础上，一种具体的实施例中，本发明的互动式康复方法还可以包括以下步骤：On the basis of the above-mentioned embodiments, in a specific embodiment, the interactive rehabilitation method of the present invention may also include the following steps:
根据虚拟图像指令辅助用户进行肌体运动。Assist users to perform body movements according to virtual image instructions.
通过辅助用户进行肌体运动可以帮助难以实现自主运动的用户进行康复运动，进而以提高康复治疗的效率、并提升用户的康复信心和毅力。By assisting users to perform body movements, it can help users who are difficult to achieve voluntary movement to perform rehabilitation exercises, thereby improving the efficiency of rehabilitation treatment, and enhancing the recovery confidence and perseverance of users.
如图3和图4所示，在上述实施例的基础上，一种具体的实施例中，步骤S303的工作流程可以包括：As shown in Figure 3 and Figure 4, on the basis of the above embodiments, in a specific embodiment, the workflow of step S303 may include:
步骤S201，采集用户手势图像；Step S201, collecting user gesture images;
步骤S202，根据用户手势图像获取用户手势边缘轮廓和手势运动轨迹信息；Step S202, acquiring user gesture edge contour and gesture trajectory information according to the user gesture image;
步骤S203，将获取的手势边缘轮廓和手势运动轨迹信息与预存的手势边缘轮廓和手势运动轨迹信息进行匹配；Step S203, matching the acquired gesture edge profile and gesture motion track information with the pre-stored gesture edge profile and gesture motion track information;
若获取的手势边缘轮廓和手势运动轨迹信息与预存的某一手势边缘轮廓和手势运动轨迹信息匹配成功，则依次执行以下步骤：If the acquired gesture edge profile and gesture motion track information are successfully matched with a pre-stored gesture edge profile and gesture motion track information, the following steps are performed in sequence:
步骤S204，查找与获取的手势边缘轮廓和手势运动轨迹信息匹配成功的预存手势边缘轮廓和手势运动轨迹信息所对应的虚拟图像控制指令；Step S204, searching for the virtual image control instruction corresponding to the pre-stored gesture edge profile and gesture track information that successfully matches the acquired gesture edge profile and gesture track information;
步骤S205，将虚拟图像控制指令发送至显示模块、以控制显示模块显示虚拟场景和用户的手势图像，同时，将该虚拟图像控制指令发送至辅助运动模块、以控制辅助运动模块辅助用户进行运动；Step S205, sending the virtual image control instruction to the display module to control the display module to display the virtual scene and the user's gesture image, and at the same time, sending the virtual image control instruction to the auxiliary exercise module to control the auxiliary exercise module to assist the user to exercise;
若获取的手势边缘轮廓和手势运动轨迹信息与预存的任一手势边缘轮廓和手势运动轨迹信息都不匹配，则重新执行步骤S201。If the acquired gesture edge profile and gesture motion track information do not match any of the pre-stored gesture edge profile and gesture motion track information, step S201 is re-executed.
如图5所示，在上述各实施例的基础上，一种具体的实施例中，本发明互动式康复方法，具体可以包括如下步骤：As shown in Figure 5, on the basis of the above-mentioned embodiments, in a specific embodiment, the interactive rehabilitation method of the present invention may specifically include the following steps:
步骤S401，获取用户肌电信号；Step S401, acquiring user electromyographic signals;
步骤S402，根据获取的肌电信号确定肌体类型和肌动力强度等级；Step S402, determining the body type and muscle power level according to the acquired electromyographic signal;
步骤S403，根据肌体类型和肌动力强度等级生成运动选项指令；Step S403, generating exercise option instructions according to the body type and muscle power level;
步骤S404，根据运动选项指令生成并显示相应的供用户选择的运动选项；Step S404, generating and displaying corresponding exercise options for the user to select according to the exercise option instruction;
步骤S405，采集用户手势图像；Step S405, collecting user gesture images;
步骤S406，根据用户手势图像确定用户选择的运动选项；Step S406, determining the exercise option selected by the user according to the user gesture image;
步骤S407，生成针对该运动选项的虚拟图像指令；Step S407, generating a virtual image instruction for the exercise option;
步骤S408，根据虚拟图像指令生成并显示相应的虚拟运动图像、并辅助用户进行肌体运动。Step S408, generating and displaying a corresponding virtual moving image according to the virtual image instruction, and assisting the user in body movement.
显然，本领域的技术人员可以对本发明实施例进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Apparently, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention also intends to include these modifications and variations.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610647580.2ACN106250700B (en) | 2016-08-09 | 2016-08-09 | Interactive rehabilitation system, interactive convalescence device and interactive method of rehabilitation |
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| CN201610647580.2AActiveCN106250700B (en) | 2016-08-09 | 2016-08-09 | Interactive rehabilitation system, interactive convalescence device and interactive method of rehabilitation |
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