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Acquisition and mirroring method for motion data of planar rehabilitation robot

A robot movement and data acquisition technology, applied in the field of data processing, can solve the problems of increasing equipment cost and space, high camera placement, and large range of space activities of the robotic arm, so as to achieve the effect of improving the efficiency and effect of rehabilitation

Pending Publication Date: 2022-02-08
SHANGHAI ROBOT IND TECH RES INST CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is: due to the large range of space activities of the six-degree-of-freedom manipulator, the camera is placed too high, which increases equipment cost and space

Method used

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  • Acquisition and mirroring method for motion data of planar rehabilitation robot
  • Acquisition and mirroring method for motion data of planar rehabilitation robot

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Embodiment Construction

[0041] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0042] Based on the mirroring mode of the planar rehabilitation mirroring robot system, that is, under two different training methods of real-time robot mirroring data and non-real-time mirroring data, video mirroring and motion trajectory mirroring training mirroring processing methods.

[0043] 1. Image data acquisition and image processing method

[0044] 1.1 Motion capture method:

[0045] like figure 1 As shown, the specific steps of the acquisition method by an optical or inertial motion capture system are as follows:

[0046] Step1 Hand-eye calibration: Carry out hand-eye cali...

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Abstract

The invention relates to an acquisition and mirroring method for motion data of a planar rehabilitation robot. According to the invention, motion data acquisition and mirroring processing are carried out through any one of a motion capturing and mirroring method, a depth camera acquisition and mirroring method and a video mirroring method, and a robot mechanical arm is combined for use to carry out mirroring therapy on a patient while the patient is driven to move through traction of the planar robot. According to the data acquired by the method, real-time mirror plane rehabilitation training (namely, simultaneous real-time mirroring of videos and motion tracks) and non-real-time mirror plane rehabilitation training (namely simultaneous non-real-time mirroring of videos and motion tracks) can be realized, force sense stimulation and visual stimulation are combined, and the rehabilitation efficiency and effect of patients are effectively improved.

Description

technical field [0001] The invention relates to a data processing technology, in particular to a motion data collection and mirroring method of a planar rehabilitation robot. Background technique [0002] At present, stroke is a common and frequently-occurring disease of the nervous system, and it is also a disease with a high disability rate. The rehabilitation treatment of stroke patients requires one-on-one training accompanied by rehabilitation therapists. However, with the aging population, there is a shortage of rehabilitation therapists. The planar robot has the advantages of simple structure, small size, low cost, and stronger stability. Therefore, the planar rehabilitation robot is gradually being used in the rehabilitation training of stroke patients. Games can increase the fun of rehabilitation training and greatly improve the rehabilitation effect. [0003] For stroke patients who have no upper limb distal movement in the early stage, mirror therapy in rehabili...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B5/11A61H1/02
CPCA61B5/1122A61B5/11A61B5/1128A61H1/0274A61H2201/5007A61H2201/1207
Inventor 周梅杰熊学胜窦博珍曹刘雨于园园
Owner SHANGHAI ROBOT IND TECH RES INST CO LTD
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