基于Kinect体感技术的机器人辅助康复训练系统

发布时间：2019-01-30 08:34

【摘要】：脑卒中疾病是导致我国老年人死亡和残疾的重要原因。康复治疗是为了帮助患者恢复因脑卒中造成的运动障碍,然而,当前传统的康复手段在临床应用上存在佩戴式设备复杂、价格昂贵、康复训练内容乏味等诸多弊端。因此研究者提出一种可以激励患者的主观能动性和改善康复治疗效果的康复系统,即为虚拟康复环境与上肢康复技术相结合的虚拟康复系统该系统具有交互性和趣味性,能提高患者对康复训练的积极性和主动性,提升康复训练效率同时改善康复治疗效果。基于以上的背景研究以及患者后期的康复训练的需求,本文将Kinect传感器与虚拟康复训练环境相结合,设计了适用于机器人辅助康复训练的系统,具体工作如下:本文首先对脑卒中导致运动障碍的原因和运动康复理论的理论依据进行阐述,并且针对Kinect体感技术在临床医学上的国内外应用进行了研究分析,由此建立了基于K inect体感技术的机器人辅助虚拟康复训练系统的总体结构和方案设计。其次,介绍了Kinect传感器的工作原理以及硬件组成,并依据Kinect系统体系框架开发出对人体上肢的骨骼关节追踪以及简单手势跟踪模块。再次,针对康复治疗中后期的康复需求以及结合几何与图像相混合的建模技术设计并开发具有高沉浸感的人机交互康复训练任务,包括水平面康复运动环境和三维空间康复运动环境,从而对患者肩部、肘部以及腕部的整体协调性进行强化训练。最后,以康复机器人和Kinect传感器为硬件平台,构建虚拟康复训练系统实验平台,分别对水平面康复运动以及三维空间康复运动进行实验研究,并且对以健康受试者为实验对象所得运动数据进行分析,以此为依据来验证基于Kinect体感技术的机器人辅助康复训练系统的有效性和可行性。
[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.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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