CN102039031B - Multifunctional rehabilitation system for hands based on virtual reality - Google Patents

Abstract

The invention discloses a multifunctional rehabilitation system for hands, comprising a rocker device, a grip ring device and a virtual reality module, wherein the rocker device and the grip ring device are connected and are used for controlling game roles in the virtual reality module; a diseased hand is placed in a grip ring groove; grip or pinch is generated to drive a rocker to deflect; and the grip or the pinch and the deflecting angle and the deflecting speed of the rocker are read and transmitted to the visual reality module so as to control the game roles in the module to finish a game and further realize rehabilitation training for the diseased hand. For the multifunctional rehabilitation system, active training is adopted, the cost is lower, the operation is simple, long-term monitoring of a doctor is not needed, independent use can be realized in families and the application range is greatly widened.

Description

Multifunctional hand rehabilitation system based on virtual reality

technical field

The invention relates to functional rehabilitation equipment for upper limbs of a human body, in particular to a multifunctional rehabilitation system for hands. The system can assist patients in rehabilitation training of hand grip strength, pinch strength, wrist joint flexibility, single finger flexibility and finger coordination.

Background technique

As one of the most important functional organs of the human body, the human hand has criss-crossing nerve vessels and small muscles all over the hand, which lead to high requirements, great difficulty and long recovery period for the treatment of hand trauma. At the same time, the human hand is also one of the organs that are extremely vulnerable to injury. Hand trauma can lead to hand muscle atrophy, joint stiffness and other symptoms, seriously affecting normal life and work. Some studies have pointed out that certain auxiliary rehabilitation training will help the recovery of hand function after hand trauma. With the increase of some injury accidents and stroke patients in recent years, artificial rehabilitation training is not ideal, the rehabilitation time is long, and the cost is high, which has increasingly become a burden on society and families.

In response to the above problems, many scientific research institutes, companies and individuals have tried to design a hand function rehabilitation training device that can replace manual work, and achieved certain results. An exoskeleton rehabilitation system designed by researchers at the University of Manchester in the United Kingdom uses a modular design concept to realize the rehabilitation of four fingers. The whole structure consists of three parts: exoskeleton module, glove module and motor drive module; a new type of rehabilitation manipulator developed by Harbin Engineering University, which uses gear rotation, integrates angle sensors and servo motors to realize finger movement. However, these devices currently have the following main disadvantages: they are not combined with a virtual environment or the combined virtual environment has insufficient immersion, which affects the efficacy of rehabilitation to a certain extent; they do not provide an accurate rehabilitation evaluation mechanism.

Contents of the invention

The purpose of the present invention is to provide a hand multifunctional rehabilitation system based on virtual reality, which includes a rocker device, a grip ring device with a force sensor, and a virtual reality module, which can complete the rehabilitation of the affected hand's grip strength, pinch strength, and wrist strength. Rehabilitation training for joint flexibility, individual finger flexibility and finger coordination. This system conducted a questionnaire survey on the interests of hand trauma groups, and used it as the basis for designing virtual reality. At the same time, it used the theory of immersion to improve the immersion of virtual reality. During the rehabilitation process, the information of the affected hand will also be analyzed Real-time online detection and storage are used for real-time virtual reality response and later quantitative rehabilitation evaluation, thus solving the problems of insufficient immersion in virtual reality of existing equipment and not combining accurate rehabilitation evaluation mechanisms.

The concrete technical scheme adopted for realizing the object of the present invention is:

The present invention basically includes three parts: a rocker device, a grip circle device and a virtual reality module. The rocker device is connected to the grip ring, and the affected hand is placed in the groove of the grip ring to generate grip or pinch force and drive the rocker to deflect. The size and speed of the angle are sent to the virtual reality module to manipulate the game characters in the module for rehabilitation training, and the virtual reality module stores rehabilitation training data for post-training rehabilitation evaluation.

The rocker device includes a rocker and a base, the rocker is fixed on the base, and can deflect in two-dimensional space, and its deflection angle and speed are used to control the position and speed of the game character in the virtual reality module, so as to achieve the utilization of The joystick controls the purpose of the virtual character in real time, thereby enhancing the immersion of virtual reality. In addition, the deflection angle and speed of the rocker also reflect the flexibility of the affected wrist joint, so it can also be used for later rehabilitation evaluation. The affected hand deflects the rocker by grasping, pinching, and moving the grip ring, so that the rocker performs the above functions.

The grip ring device with a force sensor is a ring device with a groove structure, and the affected hand can grasp and pinch the grip ring to complete rehabilitation training for the grip and pinch strength of the affected hand. The force sensor on the grip ring is a patch type force sensor, which is attached to the groove on the grip ring for real-time sensing and reading of the grip or pinch force of the affected hand, for later rehabilitation evaluation and control in virtual reality game characters.

The virtual reality module includes a virtual game unit and a storage unit, the virtual game unit provides a virtual game, utilizes the grip force or pinch force produced by the patient's hand and the angle and speed produced by the patient's wrist joint rotation to the rocker device, and controls the corresponding The characters in the game play games to achieve rehabilitation training for the grip strength, pinch strength, single finger flexibility, multi-finger coordination and wrist joint flexibility of the affected hand. The storage unit stores grip strength, angle, speed and other data generated during training for later evaluation of rehabilitation training.

Virtual games include shooting games, racing games, and gesture-changing games, which are used to perform rehabilitation training on grip strength, pinch strength, single-finger flexibility, multi-finger coordination, and wrist joint flexibility for affected hands. The three virtual environments are all developed and designed according to the interests of the patient groups through questionnaires.

The present invention has the advantages of: designing the virtual environment according to the patient's interest, ensuring the immersion of the virtual environment, and continuously optimizing the immersion of the virtual environment according to the patient's body indicators during the specific rehabilitation training process, so as to improve the rehabilitation effect and shorten the rehabilitation time . The whole training process is active training for the affected hand, which largely guarantees the safety of the rehabilitation process. The device has simple structure, ingenious design and low cost, and is favorable for popularization and use.

In addition, the invention conducts accurate rehabilitation evaluations from the grip strength, pinch strength, and finger flexibility of the affected hand, and discusses the establishment of a virtual environment immersion model in combination with qualitative and quantitative methods such as questionnaire surveys and human body index analysis. Continuous optimization for virtual reality and future improvements of the inventive device.

The invention discloses a hand function rehabilitation system aiming at the above defects of the existing equipment. While reducing the cost of equipment, it uses questionnaires, analysis of human body-related indicators and other programs to improve the immersion of the combined virtual reality, and provides an accurate rehabilitation evaluation mechanism. It can complete rehabilitation training for hand grip strength, pinch strength, single finger flexibility, multi-finger coordination, and wrist joint flexibility. In addition, the present invention has an ingenious design and simple structure, and changes passive training into active training, basically eliminating the need for rehabilitation. Unsafe factors in the process.

The hand function rehabilitation system based on virtual reality provided by the present invention is characterized in that: rehabilitation training is active training, and the cost is low, the operation is simple, does not require long-term monitoring by a doctor, and can be used independently at home, greatly increasing its Applicable range.

The invention is a hand function rehabilitation system that can be widely used in clinics and families.

Description of drawings

Fig. 1 is the schematic diagram of multifunctional rehabilitation system for hand trauma of the present invention;

Fig. 2 is a schematic diagram of rehabilitation training for the grip strength of the affected hand and the range of motion of the wrist joint;

Fig. 3 is a schematic diagram of rehabilitation training for the pinch force of the affected hand and the movable speed of the wrist joint;

Fig. 4 is a schematic diagram of the rehabilitation training of the flexibility of a single finger of the affected hand and the coordination ability between each finger;

In the figure: 1 is the grip ring, 2 is the force sensor, 3 is the rocker, and 4 is the base.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

As shown in Figures 1-4, the multifunctional hand rehabilitation system of the present invention consists of a rocker device, a grip circle device with force sensors, and a virtual reality module.

The rocker device includes a base 4 and a rocker 3 on it. The base 4 is used to fix the entire device. The range and speed of the rocker 3 reflect the flexibility of the wrist joint and can control the movement of a specific character in a virtual game. Some properties, meanwhile, the angle offset range and moving speed will also be stored for later rehabilitation evaluation.

The grip ring device with force sensor includes a grip ring 1 with a groove structure and a patch-type pressure sensor 2, wherein: the grip ring 1 is connected to the rocker 3, and when the affected hand grasps, pinches and moves the grip ring 1 , the rocker 3 will also deflect accordingly, so that the rocker device can complete its function. Several force sensors 2 are pasted on the grip ring 1, which can read the force exerted by the grip force, pinch force and each finger of the affected hand. This device will complete the function of improving the grip strength and pinching strength of the affected hand, improving the flexibility of the wrist joint, the flexibility of a single finger and the coordination ability of the fingers.

The virtual reality module includes a virtual game unit and a storage unit, the virtual game unit provides a virtual game, utilizes the grip force or pinch force produced by the patient's hand and the angle and speed produced by the patient's wrist joint rotation to the rocker device, and controls the corresponding The characters in the game play games to achieve rehabilitation training for the grip strength, pinch strength, single finger flexibility, multi-finger coordination and wrist joint flexibility of the affected hand. The storage unit stores grip strength, angle, speed and other data generated during training for later evaluation of rehabilitation training.

Virtual games include shooting games, racing games, and gesture-changing games, which are used to perform rehabilitation training on grip strength, pinch strength, single-finger flexibility, multi-finger coordination, and wrist joint flexibility for affected hands. The three virtual environments are all developed and designed according to the interests of the patient groups through questionnaires.

Aiming at the group of hand trauma, the present invention conducts a questionnaire survey on 52 randomly selected people, obtains several favorite virtual games of this group, and designs and develops them. Each virtual game can complete one or more of the following rehabilitation training functions: improve the grip strength and pinch strength of the affected hand, increase the flexibility of the affected wrist joint, improve the flexibility of a single finger and the interaction between fingers coordination functions, etc. Each virtual game will be introduced in detail below.

Virtual games include shooting games, which can complete rehabilitation training such as improving the flexibility of the affected wrist joint, improving the grip strength and pinching strength of the affected hand. In this virtual game, the offset angle and speed of the rocker 3 are used to control the aiming point of the tank and its changing speed; if the grip force or pinch force of the affected hand read by the force sensor 2 is greater than a certain threshold, the tank fires shells. Patients need to adjust the deflection direction and speed of the joystick as well as the grip strength and pinch strength in real time so that the tank can hit other characters in the game as much as possible. The number of times other characters (helicopters, robots, etc.) that are constantly moving or fixed in this virtual game are hit and the time the game runs will determine the upgrade and completion of the game. Patients can also artificially set the above-mentioned threshold value, game level, moving speed and frequency of appearance of other characters according to their own level of familiarity with the game and degree of recovery.

Virtual games also include racing games. This virtual game can also complete rehabilitation training such as improving the flexibility of the affected wrist joint and improving the grip and pinch strength of the affected hand. In this virtual game, the deflection angle and speed of the joystick 3 are used to control the turning direction and speed of the sports car in the game; the grip or pinch force of the affected hand read by the force sensor 2 is used to control the forward speed of the sports car. The patient needs to adjust the forward speed and direction of the sports car in real time according to the terrain and the twists and turns of the road, so as to complete a runway in the shortest time.

The virtual game also includes a gesture transformation game, and this virtual game completes rehabilitation training to improve the dexterity of individual fingers and the coordination between fingers. In this game, the size of the force sense information read by the four force sensors pasted on the grip ring 1 will be used as a criterion for distinguishing between gesture transformation and whether a single finger moves. This game can complete the rehabilitation training for the recovery of the independent movement ability of the index finger, middle finger, and ring finger and the transformation of gestures such as "scissors, rock, and cloth" for the affected hand. Patients need to continuously adjust individual fingers or gestures of the affected hand in real time according to the finger activities and gesture changes of the virtual hand in the virtual environment to complete this stage of rehabilitation training.

In addition, the above-mentioned virtual environment will reflect various rehabilitation information of the affected hand by recording the size change and average value of the force sensor 2 and the deflection angle and speed of the rocker 3 in real time, such as the grip strength of the affected hand, pinch force, wrist joint flexibility, etc. The range and speed of activities, the time spent in one rehabilitation training and the degree of completion of virtual games were used for post-rehabilitation evaluation.

Use of the present invention: firstly, the physician conducts relevant evaluation on the patient's hand, guides the patient to grasp and pinch the grip ring 1 in the correct posture, and selects an appropriate virtual game; then, register or log in to the virtual environment, use Come to get familiar with the device and the virtual game, and then enter the 20-minute rehabilitation training stage. During this stage, the affected hand needs to adjust the deflection of the joystick 3 and the force applied to the force sensor 1 in real time to complete the corresponding virtual game; finally , patients can choose to fill in or dictate their feelings about the device and the virtual environment, so as to cooperate with the improvement of the device of the present invention and the improvement of immersion in the virtual environment. The rehabilitation evaluation mechanism of the present invention will also provide the relevant information of this training relative to the previous training hand function changes at the end of each rehabilitation training. When the above-mentioned functions of the affected hand reach the rehabilitation evaluation index, the affected hand will be recovered. The entire training process is also declared complete.

Claims (4)

1. A hand multifunctional rehabilitation system, which is used to carry out rehabilitation training to the hand function of the affected hand, the system includes a rocking bar device, a grip ring device and a virtual reality module, and the rocking bar device is connected with the grip ring device , used together to manipulate the game characters in the virtual game provided by the virtual reality module; The affected hand is placed in the groove of the grip circle to generate grip or pinch force and drive the rocker to deflect. The grip or pinch force, as well as the angle and speed of rocker deflection are read and sent to the virtual reality module to control the The game characters in the virtual reality module complete the game and realize rehabilitation training for the affected hand; Wherein, the groove on the grip ring is provided with a force sensor for real-time sensing and reading of the grip or pinch force exerted by the affected hand on the grip ring; The virtual reality module includes a virtual game unit and a storage unit, the virtual game unit provides a virtual game, utilizes the grip force or pinch force produced by the patient's hand and the angle and speed generated by the rotation of the rocker device, and controls the game accordingly. Play games with the characters of the affected hand to realize rehabilitation training on the grip strength, pinch strength, single finger flexibility, multi-finger coordination and wrist joint flexibility of the affected hand; the storage unit realizes the storage of various data in the rehabilitation training. 2. The system according to claim 1, wherein the virtual reality module stores various data in rehabilitation training for post-training rehabilitation evaluation. 3. The system according to claim 1 or 2, characterized in that, the rocking bar device comprises a base (4) and a rocking bar (3), and the base (4) is used to fix the whole device, and the rocking bar (3) ) is arranged on the base (4), and the other end is connected with the grip ring device. 4. The system according to claim 1 or 2, wherein the virtual game includes a shooting game, a racing game and a gesture transformation game.

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