Inertial-sensor-based wearable hemiplegia rehabilitation apparatus and strap-down attitude algorithm

Abstract

Disclosed are an inertial-sensor-based wearable hemiplegia rehabilitation apparatus and a strap-down attitude algorithm. The inertial-sensor-based wearable hemiplegia rehabilitation apparatus mainly comprises an upper computer and an inertia measurement system. Inertia measurement units distributed on different body parts of a patient acquire attitude angle information of the patient moving, through inertial sensors; the attitude angle information is transmitted to the upper computer through a wireless transmission module; the upper computer tracks the rehabilitation training process of the patient in real time according to the attitude angle information of different positions. The invention further provides a strap-down attitude algorithm based on plane constraint. According to the method, a restraint plane is established according to previous-moment motion attitudes of a forearm and a postbrachium during moving, the restraint plane is used to restrain acceleration information, systematic self-restrained measurement is achieved accordingly, and angle measurement is better in stability and accuracy. The inertial-sensor-based wearable hemiplegia rehabilitation apparatus and the strap-down attitude algorithm have the advantages that accurate rehabilitation motion attitudes and accurate amount of motion can be provided according to conditions of the patient with hemiplegia, degree and times of completing each set of moves are recorded for the patient, and a function of simple evaluation on hemiplegia and treatment effect for the patient with hemiplegia is provided.

Description

technical field [0001] The invention relates to a rehabilitation device, in particular to a rehabilitation device which uses inertial sensors to detect information and is used for hemiplegic patients. Background technique [0002] Hemiplegia is a common sequela of stroke. Patients with hemiplegia lose the motor function of one side of their limbs, ranging from inconvenient to move, to being unable to take care of themselves in severe cases. As we all know, effective rehabilitation training can not only maintain the joint range of motion and prevent joint contracture, but also significantly improve the patient's motor function, and eventually restore the normal person's motor ability. [0003] At present, traditional rehabilitation training is mainly based on one-on-one training by therapists for patients. This method consumes a lot of time for medical workers, is inefficient, and cannot accurately control and record training parameters; The application of hemiplegia recover...

AI Technical Summary

Problems solved by technology

Therefore, in the process of self-recovery training for hemiplegic patients, due to the lack of accurate exercise posture guidance and exercise evaluation, it is often difficult to achieve the expected movement standards, which affects the effect and progress of recovery.

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