技术领域technical field
本发明属于康复训练机器人的技术领域，尤其是涉及一种基于视觉人体位姿检测的上肢康复机器人系统及使用方法。The invention belongs to the technical field of rehabilitation training robots, and in particular relates to an upper limb rehabilitation robot system based on visual human body posture detection and a use method.
背景技术Background technique
随着老龄化趋势的加快以及中青年人群过度劳累现象的加剧，在居民中出现了大量的脑血管疾病或神经系统疾病患者，这类患者多数伴有偏瘫症状，运动功能受到了一定的损伤，医学理论和临床医学证明，这类患者除了早期的手术和药物治疗外，科学的康复训练对于肢体运动功能的恢复起到非常重要的作用。With the acceleration of the aging trend and the intensification of overwork among young and middle-aged people, a large number of patients with cerebrovascular diseases or nervous system diseases have appeared among residents. Most of these patients are accompanied by hemiplegia symptoms, and their motor functions have been damaged to a certain extent. Medical theory and clinical medicine have proved that in addition to early surgery and drug treatment for such patients, scientific rehabilitation training plays a very important role in the recovery of limb motor function.
上肢康复机器人的主要作用是通过机器人带动患者的肢体运动，对肢体运动障碍的患者进行运动机能的康复训练。作为一种自动化康复医疗设备，它以医学理论为依据，帮助患者进行科学而又有效的康复训练，使患者的运动机能得到更好的恢复。国外内大量研究表明，上肢康复机器人可以为不同康复状态等级的患者提供所需的康复训练方式，大大减轻了康复医师的负担，实现了一对多的康复训练方法，缩短康复时间并提高康复效果，增强患者的康复信心，并能提供病人的人体运动学，生理学数据，为医师改进和优化康复方案提供客观依据。The main function of the upper limb rehabilitation robot is to drive the patient's limb movement through the robot, and perform rehabilitation training on motor function for patients with limb movement disorders. As an automatic rehabilitation medical device, it is based on medical theory and helps patients to carry out scientific and effective rehabilitation training, so that the patient's motor function can be better recovered. A large number of studies at home and abroad have shown that upper limb rehabilitation robots can provide the required rehabilitation training methods for patients with different rehabilitation status levels, greatly reducing the burden on rehabilitation physicians, realizing a one-to-many rehabilitation training method, shortening rehabilitation time and improving rehabilitation effects , enhance the patient's confidence in rehabilitation, and can provide the patient's human kinematics, physiological data, and provide an objective basis for the doctor to improve and optimize the rehabilitation program.
然而，现有的上肢康复机器人系统存在以下问题：However, the existing upper limb rehabilitation robot system has the following problems:
第一，在现有的上肢康复机器人系统中，患者需要佩戴各种传感器设备，以获取患者运动状态和位置测量，但大量的传感器设备不易安装和佩戴，影响患者的康复体验；First, in the existing upper limb rehabilitation robot system, the patient needs to wear various sensor devices to obtain the patient's motion state and position measurement, but a large number of sensor devices are not easy to install and wear, which affects the patient's rehabilitation experience;
第二，现有的上肢康复机器人系统中大量的传感器设备重量比较大，不易进行控制，且上肢康复机器人与人体不匹配，容易对患者造成二次伤害。Second, a large number of sensor devices in the existing upper limb rehabilitation robot system are relatively heavy and difficult to control, and the upper limb rehabilitation robot does not match the human body, which is likely to cause secondary injury to the patient.
第三，现有的上肢康复机器人系统没有具体针对不同患者的针对性康复训练，对于患者个体康复训练效果差，不能达到预期的康复效果。Third, the existing upper limb rehabilitation robot system does not have specific rehabilitation training for different patients, and the rehabilitation training effect for individual patients is poor, and the expected rehabilitation effect cannot be achieved.
随着机器人技术的发展，人机共融的控制方法考虑到人体的安全与舒适，国内外高校都进行了深入的研究探讨，上肢康复机器人需要与人体长期的直接接触，是研究共融机器人的良好载体，成为了共融机制研究的热点方向。现有上肢康复机器人系统不足以带给患者舒适有效的康复体验，不能达到预期的康复效果，激发患者康复训练的热情。With the development of robot technology, the control method of human-machine fusion takes into account the safety and comfort of the human body. Universities at home and abroad have conducted in-depth research and discussion. Upper limb rehabilitation robots need long-term direct contact with the human body, which is the best way to study fusion robots. A good carrier has become a hot spot in the research of the communion mechanism. The existing upper limb rehabilitation robot system is not enough to bring patients a comfortable and effective rehabilitation experience, cannot achieve the expected rehabilitation effect, and stimulate the enthusiasm of patients for rehabilitation training.
综上所述，现有技术中如何提高上肢康复机器人系统康复效果及患者舒适体验度的问题，尚缺乏行之有效的解决方案。To sum up, in the prior art, there is still a lack of effective solutions to the problem of how to improve the rehabilitation effect of the upper limb rehabilitation robot system and the comfort experience of patients.
发明内容Contents of the invention
针对现有技术中存在的不足，解决现有技术中如何提高上肢康复机器人系统康复效果及患者舒适体验度的问题，本发明提出了一种基于视觉人体位姿检测的上肢康复机器人系统及使用方法，有效提高上肢康复机器人系统康复效果及患者舒适体验度。Aiming at the deficiencies in the existing technology and solving the problem of how to improve the rehabilitation effect of the upper limb rehabilitation robot system and the patient's comfort experience in the prior art, the present invention proposes an upper limb rehabilitation robot system based on visual human body position and posture detection and its use method , effectively improve the rehabilitation effect of the upper limb rehabilitation robot system and the comfort experience of patients.
本发明的目的是提供一种基于视觉人体位姿检测的上肢康复机器人系统。The purpose of the present invention is to provide an upper limb rehabilitation robot system based on visual human pose detection.
为了实现上述目的，本发明采用如下一种技术方案：In order to achieve the above object, the present invention adopts the following technical scheme:
一种基于视觉人体位姿检测的上肢康复机器人系统，该系统包括：上肢康复机器人、视觉采集模块、处理器和医师监控模块；An upper limb rehabilitation robot system based on visual human pose detection, the system includes: an upper limb rehabilitation robot, a vision acquisition module, a processor and a physician monitoring module;
所述上肢康复机器人用于根据接收的所述处理器传输的训练指令配合患者上肢的运动进行康复训练，将根据训练指令的机器人执行状态发送至所述处理器；The upper limb rehabilitation robot is used to carry out rehabilitation training according to the received training instructions transmitted by the processor in conjunction with the movement of the patient's upper limbs, and send the execution state of the robot according to the training instructions to the processor;
所述视觉采集模块用于采集患者上肢图像信息得到患者上肢各个关节位置信息以及采集环境图像信息得到轨迹规划信息，并发送至所述处理器；The visual collection module is used to collect the image information of the patient's upper limbs to obtain the position information of each joint of the patient's upper limbs, and collect the environmental image information to obtain trajectory planning information, and send them to the processor;
所述医师监控模块用于监控患者康复训练，保存并分析评价患者康复训练情况，并根据分析情况设置训练动作和训练模式生成命令信息发送至所述处理器；The doctor monitoring module is used to monitor the patient's rehabilitation training, save and analyze and evaluate the patient's rehabilitation training situation, and set the training action and training mode according to the analysis situation to generate command information and send it to the processor;
所述处理器用于根据其接收的视觉采集模块信息和医师监控模块命令信息进行融合处理产生训练指令，发送至所述上肢康复机器人；并将训练指令和接收的机器人执行状态、患者上肢各个关节位置信息反馈至所述医师监控模块。The processor is used to perform fusion processing according to the information received from the vision acquisition module and the order information of the physician monitoring module to generate a training instruction, which is sent to the upper limb rehabilitation robot; Information is fed back to the physician monitoring module.
作为进一步的优选方案，所述上肢康复机器人为外骨骼式，采用串联方式依次实现6个自由度的运动，分别为肩关节内收外摆、肩关节伸展屈曲、大臂旋转、肘关节伸展屈曲、小臂旋转和腕关节伸展屈曲。As a further preferred solution, the upper limb rehabilitation robot is an exoskeleton type, and adopts a series method to sequentially realize movements of 6 degrees of freedom, which are respectively adduction and adduction of the shoulder joint, extension and flexion of the shoulder joint, rotation of the big arm, and extension and flexion of the elbow joint. , forearm rotation and wrist extension and flexion.
作为进一步的优选方案，所述上肢康复机器人为高度和臂长可调节机器人。As a further preferred solution, the upper limb rehabilitation robot is a robot with adjustable height and arm length.
作为进一步的优选方案，所述上肢康复机器人还包括电机驱动模块和驱动电机，其接收所述处理器传输的训练指令控制驱动电机的输出力矩，进而实现动态调节上肢康复机器人各轴的输出力矩。As a further preferred solution, the upper limb rehabilitation robot also includes a motor drive module and a drive motor, which receives training instructions transmitted by the processor to control the output torque of the drive motor, thereby dynamically adjusting the output torque of each axis of the upper limb rehabilitation robot.
作为进一步的优选方案，所述上肢康复机器人根据其接收的训练指令完成被动训练、主动训练和负载训练三种模式的训练，在康复训练过程中，实时将各关节的机器人执行状态反馈至所述处理器，所述机器人执行状态包括速度、加速度和力矩；As a further preferred solution, the upper limb rehabilitation robot completes the training in three modes of passive training, active training and load training according to the training instructions it receives. During the rehabilitation training process, the robot execution status of each joint is fed back to the a processor, the execution state of the robot includes velocity, acceleration and torque;
所述被动训练为患者上肢运动完全由所述上肢康复机器人驱动；所述主动训练为患者上肢主动运动，所述上肢康复机器人跟随运动，起辅助和保护的作用；所述负载训练为患者上肢主动运动，所述上肢康复机器人施加反向载荷。The passive training is that the patient's upper limb movement is completely driven by the upper limb rehabilitation robot; the active training is the patient's upper limb active movement, and the upper limb rehabilitation robot follows the movement to play the role of assistance and protection; the load training is the patient's upper limb active movement. motion, the upper limb rehabilitation robot applies reverse loads.
作为进一步的优选方案，所述上肢康复机器人与患者进行人机交互，患者发送人机交互命令控制所述上肢康复机器人停止训练；As a further preferred solution, the upper limb rehabilitation robot performs human-computer interaction with the patient, and the patient sends a human-computer interaction command to control the upper limb rehabilitation robot to stop training;
所述上肢康复机器人还包括紧急停机按钮。The upper limb rehabilitation robot also includes an emergency stop button.
作为进一步的优选方案，所述视觉采集模块采集的患者上肢图像信息包括患者上肢的彩色图像信息和患者上肢的深度图像信息；根据采集的患者上肢图像信息利用目标跟踪技术获取人体的实时姿态，根据人体剪影法获取患者上肢各关节的坐标信息，得到患者上肢各个关节位置信息；并采用人体剪影法根据患者上肢各个关节位置信息将训练过程生成轨迹函数，计算不同姿态时各个关节位置信息和速度信息。As a further preferred solution, the image information of the patient's upper limbs collected by the visual acquisition module includes color image information of the patient's upper limbs and depth image information of the patient's upper limbs; according to the collected patient's upper limb image information, the real-time posture of the human body is obtained by using target tracking technology, according to The human body silhouette method obtains the coordinate information of each joint of the patient's upper limbs, and obtains the position information of each joint of the patient's upper limbs; and uses the human body silhouette method to generate trajectory functions during the training process according to the position information of each joint of the patient's upper limbs, and calculates the position information and speed information of each joint in different postures .
作为进一步的优选方案，所述视觉采集模块根据采集的关键帧的患者上肢图像信息表示患者的一个动作。As a further preferred solution, the visual collection module represents an action of the patient according to the collected key frame image information of the upper limb of the patient.
作为进一步的优选方案，所述视觉采集模块采集环境图像信息得到轨迹规划信息，检测环境图像中的障碍物，并将障碍物信息发送至所述处理器，所述处理器根据障碍物信息控制所述上肢康复机器人停止训练。As a further preferred solution, the visual collection module collects environmental image information to obtain trajectory planning information, detects obstacles in the environmental image, and sends the obstacle information to the processor, and the processor controls the The upper limb rehabilitation robot stops training.
作为进一步的优选方案，所述医师监控模块的命令信息还包括规划的上肢机器人的康复训练路径、设置的机器人执行状态、停止训练命令和开始训练命令。As a further preferred solution, the command information of the doctor monitoring module also includes the planned rehabilitation training path of the upper limb robot, the set robot execution state, the stop training command and the start training command.
本发明的第二目的是提供一种基于视觉人体位姿检测的上肢康复机器人系统的使用方法，该使用方法基于一种基于视觉人体位姿检测的上肢康复机器人系统。The second object of the present invention is to provide a method for using an upper limb rehabilitation robot system based on visual human body pose detection. The usage method is based on an upper limb rehabilitation robot system based on visual human body pose detection.
为了实现上述目的，本发明采用如下一种技术方案：In order to achieve the above object, the present invention adopts the following technical scheme:
一种基于视觉人体位姿检测的上肢康复机器人系统的使用方法，该使用方法包括：A method of using an upper limb rehabilitation robot system based on visual human pose detection, the method of using includes:
步骤(1)：根据患者情况调整所述上肢康复机器人的高度和臂长，医生协助患者穿戴上肢康复机器人并学习该系统的使用；Step (1): Adjust the height and arm length of the upper limb rehabilitation robot according to the patient's condition, and the doctor assists the patient in wearing the upper limb rehabilitation robot and learning how to use the system;
步骤(2)：医生根据患者情况在所述医师监控模块设置命令信息，所述医师监控模块设置命令信息发送至所述处理器；Step (2): The doctor sets order information in the doctor monitoring module according to the patient's condition, and the doctor monitoring module sets the order information and sends it to the processor;
步骤(3)：所述视觉采集模块采集患者上肢图像信息得到患者上肢各个关节位置信息以及采集环境图像信息得到轨迹规划信息，并发送至所述处理器；Step (3): The visual collection module collects the patient's upper limb image information to obtain the position information of each joint of the patient's upper limb and collects the environmental image information to obtain trajectory planning information, and sends it to the processor;
步骤(4)：所述处理器根据其接收的视觉采集模块信息和医师监控模块命令信息进行融合处理产生训练指令，发送至所述上肢康复机器人；Step (4): The processor performs fusion processing according to the received visual acquisition module information and physician monitoring module command information to generate a training instruction, and sends it to the upper limb rehabilitation robot;
步骤(5)：所述上肢康复机器人用于根据接收的所述处理器传输的训练指令配合患者上肢的运动进行康复训练，将根据训练指令的机器人执行状态发送至所述处理器；处理器将训练指令和接收的机器人执行状态、患者上肢各个关节位置信息反馈至所述医师监控模块；医生通过医师监控模块实时监控并记录患者康复训练过程；患者在不适时，通过人机交互控制上肢康复机器人停机；Step (5): The upper limb rehabilitation robot is used to carry out rehabilitation training according to the received training instructions transmitted by the processor in conjunction with the movement of the patient's upper limbs, and sends the execution state of the robot according to the training instructions to the processor; the processor sends The training instructions, the received execution status of the robot, and the position information of each joint of the patient's upper limbs are fed back to the physician monitoring module; the doctor monitors and records the patient's rehabilitation training process in real time through the physician monitoring module; when the patient is unwell, he controls the upper limb rehabilitation robot through human-computer interaction shutdown;
步骤(6)：训练结束后，医生通过医师监控模块对患者康复训练进行分析评价，并记入患者病例存档；上肢康复机器人恢复初始位置，康复系统停止工作，医生帮助患者脱下上肢康复机器人。Step (6): After the training, the doctor analyzes and evaluates the patient's rehabilitation training through the physician monitoring module, and records it in the patient's case file; the upper limb rehabilitation robot returns to its original position, the rehabilitation system stops working, and the doctor helps the patient take off the upper limb rehabilitation robot.
本发明的有益效果：Beneficial effects of the present invention:
1、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，本发明的基于视觉人体位姿检测的上肢康复机器人系统具有实时性，实时监控患者的训练状态，而且从多个方面考虑患者康复训练过程的安全性问题，将患者的安全问题放在首位，在机械结构方面，上肢康复机器人的高度和臂长可根据患者体型进行调节，避免因人机不匹配对患者造成二次伤害。1. A kind of upper limb rehabilitation robot system based on visual human body pose detection according to the present invention, the upper limb rehabilitation robot system based on visual human body pose detection of the present invention has real-time performance, real-time monitoring of the patient's training state, and from multiple On the one hand, the safety of the patient's rehabilitation training process is considered, and the safety of the patient is put in the first place. In terms of mechanical structure, the height and arm length of the upper limb rehabilitation robot can be adjusted according to the patient's body size, so as to avoid causing secondary damage to the patient due to the mismatch between man and machine. injury.
2、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，在控制方面，对每个驱动电机的输出范围进行了限制，另外对康复训练的动作也设定了相应的限制范围；在应对突发状况方面，在患者突感不适或其他紧急情况，患者可通过交互技能及时停机；因患者患有运动障碍，可由陪护人员按下紧急按钮停机；医师监控模块实时监控患者康复训练过程，可由软件自主保护患者安全，也可由医生手动控制，及时停机保护患者安全。2. In the upper limb rehabilitation robot system based on visual human body pose detection described in the present invention, in terms of control, the output range of each drive motor is limited, and corresponding restrictions are also set on the actions of rehabilitation training scope; in response to emergencies, when a patient suddenly feels unwell or in other emergencies, the patient can stop the machine in time through interactive skills; because the patient suffers from movement disorders, the accompanying staff can press the emergency button to stop the machine; the physician monitoring module monitors the patient's recovery in real time During the training process, the software can independently protect the safety of the patient, or it can be manually controlled by the doctor, and the machine can be shut down in time to protect the safety of the patient.
3、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，患者的实时位姿以视觉方式获取为主，以上肢康复机器人各关节电机的反馈为辅；利用视觉采集模块获取人体手臂的彩色图像与深度图像信息，利用目标跟踪技术获取人体的实时姿态，通过人体剪影法获取关节的坐标信息，利用人体剪影法将人体姿态的运动过程生成运动轨迹函数，进一步计算出各个姿态的准确位置及速度。同时该方法采用关键帧的画面即可表示出一个动作，对于简单的姿态可用5-6个画面表示，提高了识别和肢体位置信息获取的效率。3. In the upper limb rehabilitation robot system based on visual human body posture detection according to the present invention, the real-time posture of the patient is mainly obtained by visual means, supplemented by the feedback of each joint motor of the upper limb rehabilitation robot; the visual acquisition module is used to obtain The color image and depth image information of the human arm, use the target tracking technology to obtain the real-time posture of the human body, obtain the coordinate information of the joints through the human body silhouette method, use the human body silhouette method to generate the motion trajectory function of the movement process of the human body posture, and further calculate each posture exact position and velocity. At the same time, the method can express an action by using a key frame picture, and 5-6 pictures can be used to represent a simple posture, which improves the efficiency of recognition and limb position information acquisition.
4、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，该系统的康复训练针对不同康复期不同患病情况的患者，提供被动训练、主动训练、负载训练三种康复模式，分别针对三种康复期的病人，设计康复训练过程，在被动训练模式下，上肢康复机器人带动患者手臂完成康复运动；在主动训练模式下，上肢康复机器人跟随患者手臂运动，辅助康复训练；在负载训练模式下，上肢康复机器人在患者康复运动训练过程中提供合适的负载。还可根据医生建议设置康复训练内容，对患者的康复训练更加科学，更有针对性。4. An upper limb rehabilitation robot system based on visual human body position and posture detection according to the present invention. The rehabilitation training of the system provides three rehabilitation modes: passive training, active training and load training for patients with different illnesses in different rehabilitation periods , respectively design the rehabilitation training process for patients in three rehabilitation periods. In the passive training mode, the upper limb rehabilitation robot drives the patient's arm to complete the rehabilitation movement; in the active training mode, the upper limb rehabilitation robot follows the patient's arm movement to assist rehabilitation training; In the load training mode, the upper limb rehabilitation robot provides a suitable load during the patient's rehabilitation exercise training. The content of rehabilitation training can also be set according to the doctor's suggestion, so that the rehabilitation training for patients is more scientific and targeted.
5、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，上肢康复机器人采用外骨骼式设计，采用串联的方式，能够精确地控制手臂在空间内的运动状态。5. An upper limb rehabilitation robot system based on visual human body position and posture detection according to the present invention. The upper limb rehabilitation robot adopts an exoskeleton design and adopts a series connection method, which can accurately control the movement state of the arm in space.
附图说明Description of drawings
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute improper limitations to the present application.
图1是本发明的基于视觉人体位姿检测的上肢康复机器人系统框图；Fig. 1 is the system block diagram of the upper limb rehabilitation robot based on visual human body posture detection of the present invention;
图2为本发明具人体位姿检测示意图；Fig. 2 is a schematic diagram of human body pose detection according to the present invention;
图3为本发明的系统示意图；Fig. 3 is a schematic diagram of the system of the present invention;
其中，1-上肢康复机器人，2-视觉采集模块，3-医师监控模块，4-处理器。Among them, 1-upper limb rehabilitation robot, 2-vision acquisition module, 3-physician monitoring module, 4-processor.
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.
应该指出，以下详细说明都是例示性的，旨在对本申请提供进一步的说明。除非另有指明，本实施例使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless otherwise specified, all technical and scientific terms used in this embodiment have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.
需要注意的是，附图中的流程图和框图示出了根据本公开的各种实施例的方法和系统的可能实现的体系架构、功能和操作。应当注意，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，所述模块、程序段、或代码的一部分可以包括一个或多个用于实现各个实施例中所规定的逻辑功能的可执行指令。也应当注意，在有些作为备选的实现中，方框中所标注的功能也可以按照不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，或者它们有时也可以按照相反的顺序执行，这取决于所涉及的功能。同样应当注意的是，流程图和/或框图中的每个方框、以及流程图和/或框图中的方框的组合，可以使用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以使用专用硬件与计算机指令的组合来实现。It should be noted that the flowcharts and block diagrams in the figures show the architecture, functions and operations of possible implementations of the methods and systems according to various embodiments of the present disclosure. It should be noted that each block in a flowchart or a block diagram may represent a module, a program segment, or a part of a code, and the module, a program segment, or a part of a code may include one or more An executable instruction for a specified logical function. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block in the flowchart and/or block diagrams, and combinations of blocks in the flowchart and/or block diagrams, can be implemented using a dedicated hardware-based system that performs the specified functions or operations , or can be implemented using a combination of dedicated hardware and computer instructions.
在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合下面结合附图与实施例对本发明作进一步说明。In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be further described below in conjunction with the drawings and the embodiments.
实施例1：Example 1:
本实施例1的目的是提供一种基于视觉人体位姿检测的上肢康复机器人系统。The purpose of Embodiment 1 is to provide an upper limb rehabilitation robot system based on visual human pose detection.
为了实现上述目的，本发明采用如下一种技术方案：In order to achieve the above object, the present invention adopts the following technical scheme:
如图1-3所示，As shown in Figure 1-3,
一种基于视觉人体位姿检测的上肢康复机器人系统，该系统包括：上肢康复机器人、视觉采集模块、处理器和医师监控模块；An upper limb rehabilitation robot system based on visual human pose detection, the system includes: an upper limb rehabilitation robot, a vision acquisition module, a processor and a physician monitoring module;
所述上肢康复机器人用于根据接收的所述处理器传输的训练指令配合患者上肢的运动进行康复训练，将根据训练指令的机器人执行状态发送至所述处理器；在本实施例中，上肢康复机器人配合患者上肢的运动，在被动训练模式中，上肢康复机器人带动患者手臂完成康复运动，在主动训练模式中，上肢康复机器人跟随患者手臂运动，辅助康复训练，在负载训练模式下，上肢康复机器人在患者康复运动训练过程中提供合适的负载。The upper limb rehabilitation robot is used to carry out rehabilitation training in conjunction with the movement of the patient's upper limbs according to the received training instructions transmitted by the processor, and send the execution state of the robot according to the training instructions to the processor; in this embodiment, the upper limb rehabilitation The robot cooperates with the movement of the patient's upper limbs. In the passive training mode, the upper limb rehabilitation robot drives the patient's arm to complete the rehabilitation movement. In the active training mode, the upper limb rehabilitation robot follows the movement of the patient's arm to assist rehabilitation training. In the load training mode, the upper limb rehabilitation robot Provide the appropriate load during the patient's rehabilitation exercise training.
所述视觉采集模块用于采集患者上肢图像信息得到患者上肢各个关节位置信息以及采集环境图像信息得到轨迹规划信息，并发送至所述处理器；视觉采集模块利用Kinect设备，获取人体手臂的彩色图像与深度图像信息，利用目标跟踪技术获取人体的实时姿态，随后通过人体剪影法获取关节的坐标信息，从而得出人体手臂各个关节的位置信息，同时在患者康复训练过程中，根据轨迹规划检测训练环境中的障碍物，为上肢康复机器人执行康复训练动作提供轨迹规划信息，避免训练过程中产生碰撞，旨在保护患者的安全，避免对患者造成二次伤害。The visual collection module is used to collect the patient's upper limb image information to obtain the position information of each joint of the patient's upper limb and collect the environmental image information to obtain trajectory planning information, and send it to the processor; the visual collection module uses the Kinect device to obtain the color image of the human arm and depth image information, use the target tracking technology to obtain the real-time posture of the human body, and then obtain the coordinate information of the joints through the human body silhouette method, so as to obtain the position information of each joint of the human arm. Obstacles in the environment provide trajectory planning information for the upper limb rehabilitation robot to perform rehabilitation training actions, avoid collisions during the training process, and aim to protect the safety of patients and avoid secondary injuries to patients.
所述医师监控模块用于监控患者康复训练，保存并分析评价患者康复训练情况，并根据分析情况设置训练动作和训练模式生成命令信息发送至所述处理器；医师监控模块主要的功能是监视和控制患者的康复训练过程，保存并分析评价患者的康复训练情况，可以设置患者康复训练的动作，选择康复训练的模式，根据患者病情的不同设置了被动训练、主动训练和负载训练三种模式。The doctor monitoring module is used to monitor the patient's rehabilitation training, save and analyze and evaluate the patient's rehabilitation training situation, and set the training action and training mode according to the analysis situation to generate command information and send it to the processor; the main function of the doctor monitoring module is to monitor and Control the patient's rehabilitation training process, save and analyze and evaluate the patient's rehabilitation training situation. You can set the patient's rehabilitation training action, select the rehabilitation training mode, and set three modes of passive training, active training and load training according to the patient's condition.
所述处理器用于根据其接收的视觉采集模块信息和医师监控模块命令信息进行融合处理产生训练指令，发送至所述上肢康复机器人；并将训练指令和接收的机器人执行状态、患者上肢各个关节位置信息反馈至所述医师监控模块。The processor is used to perform fusion processing according to the information received from the vision acquisition module and the order information of the physician monitoring module to generate a training instruction, which is sent to the upper limb rehabilitation robot; Information is fed back to the physician monitoring module.
在本实施例中，所述上肢康复机器人为外骨骼式，外骨骼上肢康复机器采用串联的方式依次实现肩关节内收外摆，肩关节伸展屈曲，大臂旋转，肘关节伸展屈曲，小臂旋转，腕关节伸展屈曲共6个自由度的运动，通过各个运动之间的组合，能够精确地控制手臂在空间内的运动状态，以确保患者康复过程的安全。In this embodiment, the upper limb rehabilitation robot is an exoskeleton type, and the exoskeleton upper limb rehabilitation machine adopts a series connection method to sequentially realize the adduction and outward swing of the shoulder joint, the extension and flexion of the shoulder joint, the rotation of the big arm, the extension and flexion of the elbow joint, and the forearm joint. Rotation, extension and flexion of the wrist joint have a total of 6 degrees of freedom. Through the combination of each movement, the movement state of the arm in the space can be precisely controlled to ensure the safety of the patient's rehabilitation process.
在本实施例中，所述上肢康复机器人为高度和臂长可调节机器人。上肢康复机器人的高度和臂长可调节，以适应不同体型的患者。In this embodiment, the upper limb rehabilitation robot is a robot with adjustable height and arm length. The height and arm length of the upper limb rehabilitation robot can be adjusted to suit patients of different sizes.
在本实施例中，所述上肢康复机器人还包括电机驱动模块和驱动电机，驱动电机采用力矩控制模式；所述上肢康复机器人接收所述处理器传输的训练指令控制驱动电机的输出力矩，进而实现动态调节上肢康复机器人各轴的输出力矩。In this embodiment, the upper limb rehabilitation robot also includes a motor drive module and a drive motor, and the drive motor adopts a torque control mode; the upper limb rehabilitation robot receives the training instruction transmitted by the processor to control the output torque of the drive motor, thereby realizing Dynamically adjust the output torque of each axis of the upper limb rehabilitation robot.
在本实施例中，所述上肢康复机器人根据其接收的训练指令完成被动训练、主动训练和负载训练三种模式的训练，在康复训练过程中，实时将各关节的机器人执行状态反馈至所述处理器，所述机器人执行状态包括速度、加速度和力矩。In this embodiment, the upper limb rehabilitation robot completes the training in three modes of passive training, active training and load training according to the training instructions it receives. During the rehabilitation training process, the robot execution status of each joint is fed back to the A processor, the execution state of the robot includes velocity, acceleration and torque.
所述被动训练为患者上肢运动完全由所述上肢康复机器人驱动；The passive training is that the patient's upper limb movement is completely driven by the upper limb rehabilitation robot;
所述主动训练为患者上肢主动运动，所述上肢康复机器人跟随运动，起辅助和保护的作用；The active training is the active movement of the patient's upper limbs, and the upper limb rehabilitation robot follows the movement, playing the role of assistance and protection;
所述负载训练为患者上肢主动运动，所述上肢康复机器人施加反向载荷。The load training is the active movement of the patient's upper limbs, and the upper limb rehabilitation robot applies reverse loads.
在本实施例中，所述上肢康复机器人与患者进行人机交互，患者发送人机交互命令控制所述上肢康复机器人停止训练；In this embodiment, the upper limb rehabilitation robot performs human-computer interaction with the patient, and the patient sends a human-computer interaction command to control the upper limb rehabilitation robot to stop training;
所述上肢康复机器人还包括紧急停机按钮。The upper limb rehabilitation robot also includes an emergency stop button.
在本实施例中，所述视觉采集模块利用Kinect设备，采集的患者上肢图像信息包括患者上肢的彩色图像信息和患者上肢的深度图像信息；根据采集的患者上肢图像信息利用目标跟踪技术获取人体的实时姿态，根据人体剪影法获取患者上肢各关节的坐标信息，得到患者上肢各个关节位置信息；并采用人体剪影法根据患者上肢各个关节位置信息将训练过程生成轨迹函数，计算不同姿态时各个关节位置信息和速度信息。In this embodiment, the vision collection module utilizes a Kinect device, and the collected patient's upper limb image information includes color image information of the patient's upper limb and depth image information of the patient's upper limb; Real-time posture, obtain the coordinate information of each joint of the patient's upper limbs according to the human body silhouette method, and obtain the position information of each joint of the patient's upper limbs; and use the human body silhouette method to generate trajectory functions during the training process according to the position information of each joint of the patient's upper limbs, and calculate the positions of each joint in different postures information and speed information.
同时，所述视觉采集模块根据采集的关键帧的患者上肢图像信息表示患者的一个动作。该系统采用关键帧的画面即可表示出一个动作，对于简单的姿态可用5-6个画面表示，有利于提高识别和肢体位置信息获取的效率。视觉模块将视觉信息传递给处理器，由处理器进行进一步处理。At the same time, the visual collection module represents an action of the patient according to the collected key frame image information of the patient's upper limbs. The system can express an action by using a key frame picture, and 5-6 pictures can be used to represent a simple gesture, which is conducive to improving the efficiency of recognition and limb position information acquisition. The vision module passes the visual information to the processor for further processing.
同时，所述视觉采集模块采集环境图像信息得到轨迹规划信息，检测环境图像中的障碍物，并将障碍物信息发送至所述处理器，所述处理器根据障碍物信息控制所述上肢康复机器人停止训练。在患者康复训练过程中，根据轨迹规划检测训练环境中的障碍物，避免训练过程中产生碰撞，旨在保护患者的安全，避免对患者造成二次伤害。At the same time, the visual acquisition module collects environmental image information to obtain trajectory planning information, detects obstacles in the environmental image, and sends obstacle information to the processor, and the processor controls the upper limb rehabilitation robot according to the obstacle information Stop training. In the process of patient rehabilitation training, obstacles in the training environment are detected according to trajectory planning to avoid collisions during the training process, aiming to protect the safety of patients and avoid secondary injuries to patients.
处理器接收来自上肢康复机器人的各关节的执行状态信息，视觉采集模块的人体手臂各关节位置及速度信息，医师监控模块的控制信息；将以上信息融合处理，规划上肢康复机器人的运动轨迹，生成康复训练指令，将康复训练指令发送给上肢康复机器人执行；此外还需将各模块的信息打包传输给医师监控模块，同时接受来自医师监控模块的控制命令。The processor receives the execution status information of each joint of the upper limb rehabilitation robot, the position and speed information of each joint of the human arm from the vision acquisition module, and the control information of the doctor monitoring module; fuses and processes the above information, plans the trajectory of the upper limb rehabilitation robot, and generates Rehabilitation training instructions, send the rehabilitation training instructions to the upper limb rehabilitation robot for execution; in addition, the information of each module needs to be packaged and transmitted to the doctor monitoring module, and at the same time accept the control commands from the doctor monitoring module.
在本实施例中，所述医师监控模块用于监控患者康复训练，保存并分析评价患者康复训练情况，并根据分析情况设置训练动作和训练模式生成命令信息发送至所述处理器；所述医师监控模块的命令信息还包括规划的上肢机器人的康复训练路径、设置的机器人执行状态、停止训练命令和开始训练命令。医师监控模块接受来自处理器的信息，实时显示和监视患者康复运动状态，可以设置患者进行训练的模式，包括被动训练、主动训练和负载训练三种模式，可以规划上肢机器人的康复训练路径，设置并限制各关节的速度、加速度、控制力矩，将控制命令下发给处理器，此模块可以随时发送停止训练命令，及时停机，确保患者安全。In this embodiment, the doctor monitoring module is used to monitor the patient's rehabilitation training, save and analyze and evaluate the patient's rehabilitation training situation, and set the training action and training mode according to the analysis situation to generate command information and send it to the processor; the doctor The command information of the monitoring module also includes the planned rehabilitation training path of the upper limb robot, the set robot execution state, the stop training command and the start training command. The physician monitoring module receives information from the processor, displays and monitors the patient's rehabilitation exercise status in real time, and can set the patient's training mode, including passive training, active training and load training, and can plan the rehabilitation training path of the upper limb robot. And limit the speed, acceleration, and control torque of each joint, and send the control command to the processor. This module can send the stop training command at any time to stop the machine in time to ensure the safety of the patient.
实施例2：Example 2:
本实施例2的目的是提供一种基于视觉人体位姿检测的上肢康复机器人系统的使用方法，该使用方法基于一种基于视觉人体位姿检测的上肢康复机器人系统。The purpose of Embodiment 2 is to provide a method for using an upper limb rehabilitation robot system based on visual human body pose detection. The usage method is based on an upper limb rehabilitation robot system based on visual human body pose detection.
为了实现上述目的，本发明采用如下一种技术方案：In order to achieve the above object, the present invention adopts the following technical scheme:
一种基于视觉人体位姿检测的上肢康复机器人系统的使用方法，该使用方法包括：A method of using an upper limb rehabilitation robot system based on visual human pose detection, the method of using includes:
步骤(1)：根据患者情况调整所述上肢康复机器人的高度和臂长，医生协助患者穿戴上肢康复机器人并学习该系统的使用；在本实施例中，根据患者身材调整上肢康复机器人的高度和臂长，患者了解并各模块的使用，确保患者进行上肢康复训练的安全。Step (1): Adjust the height and arm length of the upper limb rehabilitation robot according to the patient's condition, and the doctor assists the patient in wearing the upper limb rehabilitation robot and learning the use of the system; in this embodiment, adjust the height and arm length of the upper limb rehabilitation robot according to the patient's stature. The arm length, the patient's understanding and the use of each module ensure the safety of the patient's upper limb rehabilitation training.
步骤(2)：医生根据患者情况在所述医师监控模块设置命令信息，所述医师监控模块设置命令信息发送至所述处理器；Step (2): The doctor sets order information in the doctor monitoring module according to the patient's condition, and the doctor monitoring module sets the order information and sends it to the processor;
在本实施例中，医生根据患者病情选择训练模式，包括被动训练模式、主动训练模式和负载训练模式，在被动训练模式下，患者上肢运动完全由上肢康复机器人驱动，适合上肢完全丧失运动能力的患者；在主动训练模式下，患者手臂主动运动，康复机器人跟随运动，起辅助和保护的作用，适合上肢具有一定运动能力的患者；在负载训练模式下，患者手臂主动运动，康复机器人施加反向载荷，适合康复期的患者。医生设置康复训练过程的速度和位置限制，避免对患者产生意外伤害。最后将控制命令打包发送给处理器。In this embodiment, the doctor selects the training mode according to the patient's condition, including passive training mode, active training mode and load training mode. In the passive training mode, the patient's upper limb movement is completely driven by the upper limb rehabilitation robot, which is suitable for patients with complete loss of upper limb exercise capacity. Patient; in the active training mode, the patient's arm moves actively, and the rehabilitation robot follows the movement, which plays the role of assistance and protection, and is suitable for patients with certain upper limb exercise ability; in the load training mode, the patient's arm actively moves, and the rehabilitation robot applies reverse load, suitable for convalescent patients. The doctor sets the speed and position limits of the rehabilitation training process to avoid accidental injury to the patient. Finally, the control command is packaged and sent to the processor.
步骤(3)：所述视觉采集模块采集患者上肢图像信息得到患者上肢各个关节位置信息以及采集环境图像信息得到轨迹规划信息，并发送至所述处理器；Step (3): The visual collection module collects the patient's upper limb image information to obtain the position information of each joint of the patient's upper limb and collects the environmental image information to obtain trajectory planning information, and sends it to the processor;
步骤(4)：所述处理器根据其接收的视觉采集模块信息和医师监控模块命令信息进行融合处理产生训练指令，发送至所述上肢康复机器人；在本实施例中，处理器接收到医师监控模块的控制信息和视觉采集模块的位姿信息，进行融合处理，向上肢康复机器人发送康复训练指令；处理器通过分析患者手臂初始位姿和康复训练指令，产生康复训练指令，并发送给上肢康复机器人；处理器将患者康复训练状态信息反馈给医师监控模块。Step (4): The processor performs fusion processing according to the received visual acquisition module information and the physician monitoring module command information to generate a training instruction, which is sent to the upper limb rehabilitation robot; in this embodiment, the processor receives the physician monitoring The control information of the module and the pose information of the visual acquisition module are fused together to send rehabilitation training instructions to the upper limb rehabilitation robot; the processor generates rehabilitation training instructions by analyzing the initial posture of the patient's arm and the rehabilitation training instructions, and sends them to the upper limb rehabilitation robot. The robot; the processor feeds back the status information of the patient's rehabilitation training to the doctor's monitoring module.
步骤(5)：所述上肢康复机器人用于根据接收的所述处理器传输的训练指令配合患者上肢的运动进行康复训练，将根据训练指令的机器人执行状态发送至所述处理器；处理器将训练指令和接收的机器人执行状态、患者上肢各个关节位置信息反馈至所述医师监控模块；医生通过医师监控模块实时监控并记录患者康复训练过程；患者在不适时，通过人机交互控制上肢康复机器人停机；在本实施例中，上肢康复机器人根据康复训练指令辅助患者进行康复训练，将执行状态实时反馈给处理器，由处理器上传给医师监控模块；视觉采集模块实时采集患者手臂位姿，实时上传到处理器，为规划康复训练轨迹提供依据，保护患者安全，同时采集患者头部动作实现人机交互，在患者摇头的情况下及时停机；医师监控模块实时接收来自处理器的训练状态信息，实时监控并记录患者康复训练过程，在监控过程中，医师可向处理器发送康复命令。Step (5): The upper limb rehabilitation robot is used to carry out rehabilitation training according to the received training instructions transmitted by the processor in conjunction with the movement of the patient's upper limbs, and sends the execution state of the robot according to the training instructions to the processor; the processor sends The training instructions, the received execution status of the robot, and the position information of each joint of the patient's upper limbs are fed back to the physician monitoring module; the doctor monitors and records the patient's rehabilitation training process in real time through the physician monitoring module; when the patient is unwell, he controls the upper limb rehabilitation robot through human-computer interaction Shut down; in this embodiment, the upper limb rehabilitation robot assists the patient to perform rehabilitation training according to the rehabilitation training instructions, and feeds back the execution status to the processor in real time, which is uploaded to the doctor monitoring module by the processor; the vision acquisition module collects the patient's arm pose in real time, Upload to the processor to provide a basis for planning rehabilitation training trajectory and protect the safety of patients. At the same time, the head movement of the patient is collected to realize human-computer interaction, and the machine will stop in time when the patient shakes his head; the doctor monitoring module receives the training status information from the processor in real time, Monitor and record the patient's rehabilitation training process in real time. During the monitoring process, the doctor can send rehabilitation commands to the processor.
步骤(6)：训练结束后，医生通过医师监控模块对患者康复训练进行分析评价，并记入患者病例存档，作为康复治疗的依据；上肢康复机器人恢复初始位置，康复系统停止工作，医生帮助患者脱下上肢康复机器人。Step (6): After the training, the doctor analyzes and evaluates the patient's rehabilitation training through the physician monitoring module, and records it in the patient's case file as the basis for rehabilitation treatment; the upper limb rehabilitation robot returns to the initial position, the rehabilitation system stops working, and the doctor helps the patient Take off the upper limb rehabilitation robot.
本发明的有益效果：Beneficial effects of the present invention:
1、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，本发明的基于视觉人体位姿检测的上肢康复机器人系统具有实时性，实时监控患者的训练状态，而且从多个方面考虑患者康复训练过程的安全性问题，将患者的安全问题放在首位，在机械结构方面，上肢康复机器人的高度和臂长可根据患者体型进行调节，避免因人机不匹配对患者造成二次伤害。1. A kind of upper limb rehabilitation robot system based on visual human body pose detection according to the present invention, the upper limb rehabilitation robot system based on visual human body pose detection of the present invention has real-time performance, real-time monitoring of the patient's training state, and from multiple On the one hand, the safety of the patient's rehabilitation training process is considered, and the safety of the patient is put in the first place. In terms of mechanical structure, the height and arm length of the upper limb rehabilitation robot can be adjusted according to the patient's body size, so as to avoid causing secondary damage to the patient due to the mismatch between man and machine. injury.
2、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，在控制方面，对每个驱动电机的输出范围进行了限制，另外对康复训练的动作也设定了相应的限制范围；在应对突发状况方面，在患者突感不适或其他紧急情况，患者可通过交互技能及时停机；因患者患有运动障碍，可由陪护人员按下紧急按钮停机；医师监控模块实时监控患者康复训练过程，可由软件自主保护患者安全，也可由医生手动控制，及时停机保护患者安全。2. In the upper limb rehabilitation robot system based on visual human body pose detection described in the present invention, in terms of control, the output range of each drive motor is limited, and corresponding restrictions are also set on the actions of rehabilitation training scope; in response to emergencies, when a patient suddenly feels unwell or in other emergencies, the patient can stop the machine in time through interactive skills; because the patient suffers from movement disorders, the accompanying staff can press the emergency button to stop the machine; the physician monitoring module monitors the patient's recovery in real time During the training process, the software can independently protect the safety of the patient, or it can be manually controlled by the doctor, and the machine can be shut down in time to protect the safety of the patient.
3、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，患者的实时位姿以视觉方式获取为主，以上肢康复机器人各关节电机的反馈为辅；利用视觉采集模块获取人体手臂的彩色图像与深度图像信息，利用目标跟踪技术获取人体的实时姿态，通过人体剪影法获取关节的坐标信息，利用人体剪影法将人体姿态的运动过程生成运动轨迹函数，进一步计算出各个姿态的准确位置及速度。同时该方法采用关键帧的画面即可表示出一个动作，对于简单的姿态可用5-6个画面表示，提高了识别和肢体位置信息获取的效率。3. In the upper limb rehabilitation robot system based on visual human body posture detection according to the present invention, the real-time posture of the patient is mainly obtained by visual means, supplemented by the feedback of each joint motor of the upper limb rehabilitation robot; the visual acquisition module is used to obtain The color image and depth image information of the human arm, use the target tracking technology to obtain the real-time posture of the human body, obtain the coordinate information of the joints through the human body silhouette method, use the human body silhouette method to generate the motion trajectory function of the movement process of the human body posture, and further calculate each posture exact position and velocity. At the same time, the method can express an action by using a key frame picture, and 5-6 pictures can be used to represent a simple posture, which improves the efficiency of recognition and limb position information acquisition.
4、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，该系统的康复训练针对不同康复期不同患病情况的患者，提供被动训练、主动训练、负载训练三种康复模式，分别针对三种康复期的病人，设计康复训练过程，在被动训练模式下，上肢康复机器人带动患者手臂完成康复运动；在主动训练模式下，上肢康复机器人跟随患者手臂运动，辅助康复训练；在负载训练模式下，上肢康复机器人在患者康复运动训练过程中提供合适的负载。还可根据医生建议设置康复训练内容，对患者的康复训练更加科学，更有针对性。4. An upper limb rehabilitation robot system based on visual human body position and posture detection according to the present invention. The rehabilitation training of the system provides three rehabilitation modes: passive training, active training and load training for patients with different illnesses in different rehabilitation periods , respectively design the rehabilitation training process for patients in three rehabilitation periods. In the passive training mode, the upper limb rehabilitation robot drives the patient's arm to complete the rehabilitation movement; in the active training mode, the upper limb rehabilitation robot follows the patient's arm movement to assist rehabilitation training; In the load training mode, the upper limb rehabilitation robot provides a suitable load during the patient's rehabilitation exercise training. The content of rehabilitation training can also be set according to the doctor's suggestion, so that the rehabilitation training for patients is more scientific and targeted.
5、本发明所述的一种基于视觉人体位姿检测的上肢康复机器人系统，上肢康复机器人采用外骨骼式设计，采用串联的方式，能够精确地控制手臂在空间内的运动状态。5. An upper limb rehabilitation robot system based on visual human body position and posture detection according to the present invention. The upper limb rehabilitation robot adopts an exoskeleton design and adopts a series connection method, which can accurately control the movement state of the arm in space.
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810325899.2ACN108814894A (en) | 2018-04-12 | 2018-04-12 | The upper limb rehabilitation robot system and application method of view-based access control model human body pose detection |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810325899.2ACN108814894A (en) | 2018-04-12 | 2018-04-12 | The upper limb rehabilitation robot system and application method of view-based access control model human body pose detection |
| Publication Number | Publication Date |
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| CN108814894Atrue CN108814894A (en) | 2018-11-16 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810325899.2APendingCN108814894A (en) | 2018-04-12 | 2018-04-12 | The upper limb rehabilitation robot system and application method of view-based access control model human body pose detection |
| Country | Link |
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| CN (1) | CN108814894A (en) |
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