基于Kinect體感技術的機器人輔助康復訓練系統(tǒng)
發(fā)布時間：2019-01-30 08:34
【摘要】：腦卒中疾病是導致我國老年人死亡和殘疾的重要原因。康復治療是為了幫助患者恢復因腦卒中造成的運動障礙,然而,當前傳統(tǒng)的康復手段在臨床應用上存在佩戴式設備復雜、價格昂貴、康復訓練內(nèi)容乏味等諸多弊端。因此研究者提出一種可以激勵患者的主觀能動性和改善康復治療效果的康復系統(tǒng),即為虛擬康復環(huán)境與上肢康復技術相結(jié)合的虛擬康復系統(tǒng)該系統(tǒng)具有交互性和趣味性,能提高患者對康復訓練的積極性和主動性,提升康復訓練效率同時改善康復治療效果。基于以上的背景研究以及患者后期的康復訓練的需求,本文將Kinect傳感器與虛擬康復訓練環(huán)境相結(jié)合,設計了適用于機器人輔助康復訓練的系統(tǒng),具體工作如下:本文首先對腦卒中導致運動障礙的原因和運動康復理論的理論依據(jù)進行闡述,并且針對Kinect體感技術在臨床醫(yī)學上的國內(nèi)外應用進行了研究分析,由此建立了基于K inect體感技術的機器人輔助虛擬康復訓練系統(tǒng)的總體結(jié)構和方案設計。其次,介紹了Kinect傳感器的工作原理以及硬件組成,并依據(jù)Kinect系統(tǒng)體系框架開發(fā)出對人體上肢的骨骼關節(jié)追蹤以及簡單手勢跟蹤模塊。再次,針對康復治療中后期的康復需求以及結(jié)合幾何與圖像相混合的建模技術設計并開發(fā)具有高沉浸感的人機交互康復訓練任務,包括水平面康復運動環(huán)境和三維空間康復運動環(huán)境,從而對患者肩部、肘部以及腕部的整體協(xié)調(diào)性進行強化訓練。最后,以康復機器人和Kinect傳感器為硬件平臺,構建虛擬康復訓練系統(tǒng)實驗平臺,分別對水平面康復運動以及三維空間康復運動進行實驗研究,并且對以健康受試者為實驗對象所得運動數(shù)據(jù)進行分析,以此為依據(jù)來驗證基于Kinect體感技術的機器人輔助康復訓練系統(tǒng)的有效性和可行性。
[Abstract]:Stroke disease is an important cause of death and disability among the elderly in China. Rehabilitation therapy is to help patients recover motor disorders caused by stroke. However, there are many disadvantages in the clinical application of traditional rehabilitation methods, such as complex wearable equipment, expensive price, boring content of rehabilitation training and so on. So the researchers put forward a kind of rehabilitation system which can stimulate patients' subjective initiative and improve the effect of rehabilitation treatment, that is, the virtual rehabilitation system which combines virtual rehabilitation environment with upper limb rehabilitation technology has interactive and interesting characteristics. It can improve the enthusiasm and initiative of patients with rehabilitation training, improve the efficiency of rehabilitation training and improve the effect of rehabilitation treatment. Based on the above background research and the demand of rehabilitation training in the later stage of patients, this paper combines Kinect sensor with virtual rehabilitation training environment, and designs a system suitable for robot assisted rehabilitation training. The main work is as follows: firstly, the causes of motor disorders caused by stroke and the theoretical basis of motor rehabilitation theory are expounded, and the application of Kinect somatosensory technology in clinical medicine is analyzed. The architecture and scheme design of robot assisted virtual rehabilitation training system based on K inect somatosensory technology are established. Secondly, the working principle and hardware composition of Kinect sensor are introduced, and according to the framework of Kinect system, the tracking module of skeleton and joint and simple gesture tracking module of human upper limb are developed. Thirdly, according to the rehabilitation demand in the middle and late stage of rehabilitation therapy and the modeling technology combined with geometry and image, the task of human-computer interactive rehabilitation training with high immersion is designed and developed. Including horizontal rehabilitation exercise environment and three-dimensional rehabilitation exercise environment, so as to strengthen the coordination of shoulder, elbow and wrist. Finally, taking the rehabilitation robot and Kinect sensor as the hardware platform, the virtual rehabilitation training system experiment platform is constructed, and the horizontal rehabilitation movement and the three-dimensional spatial rehabilitation movement are studied respectively. Based on the analysis of the motion data obtained from the healthy subjects, the validity and feasibility of the robot-assisted rehabilitation training system based on Kinect technology are verified.
【學位授予單位】：南京郵電大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
本文編號：2417950
[Abstract]:Stroke disease is an important cause of death and disability among the elderly in China. Rehabilitation therapy is to help patients recover motor disorders caused by stroke. However, there are many disadvantages in the clinical application of traditional rehabilitation methods, such as complex wearable equipment, expensive price, boring content of rehabilitation training and so on. So the researchers put forward a kind of rehabilitation system which can stimulate patients' subjective initiative and improve the effect of rehabilitation treatment, that is, the virtual rehabilitation system which combines virtual rehabilitation environment with upper limb rehabilitation technology has interactive and interesting characteristics. It can improve the enthusiasm and initiative of patients with rehabilitation training, improve the efficiency of rehabilitation training and improve the effect of rehabilitation treatment. Based on the above background research and the demand of rehabilitation training in the later stage of patients, this paper combines Kinect sensor with virtual rehabilitation training environment, and designs a system suitable for robot assisted rehabilitation training. The main work is as follows: firstly, the causes of motor disorders caused by stroke and the theoretical basis of motor rehabilitation theory are expounded, and the application of Kinect somatosensory technology in clinical medicine is analyzed. The architecture and scheme design of robot assisted virtual rehabilitation training system based on K inect somatosensory technology are established. Secondly, the working principle and hardware composition of Kinect sensor are introduced, and according to the framework of Kinect system, the tracking module of skeleton and joint and simple gesture tracking module of human upper limb are developed. Thirdly, according to the rehabilitation demand in the middle and late stage of rehabilitation therapy and the modeling technology combined with geometry and image, the task of human-computer interactive rehabilitation training with high immersion is designed and developed. Including horizontal rehabilitation exercise environment and three-dimensional rehabilitation exercise environment, so as to strengthen the coordination of shoulder, elbow and wrist. Finally, taking the rehabilitation robot and Kinect sensor as the hardware platform, the virtual rehabilitation training system experiment platform is constructed, and the horizontal rehabilitation movement and the three-dimensional spatial rehabilitation movement are studied respectively. Based on the analysis of the motion data obtained from the healthy subjects, the validity and feasibility of the robot-assisted rehabilitation training system based on Kinect technology are verified.
【學位授予單位】：南京郵電大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
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，本文編號：2417950
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