基于HTC VIVE的上肢康复虚拟训练系统研究
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摘要
偏瘫病人参与康复训练的主动性不强、目的不明确,导致效率较低.本文提出基于可穿戴设备HTC VIVE的偏瘫上肢康复训练方案,设计并实现了一种以任务为导向的康复训练系统.基于人体上肢运动学理论,使用D-H参数方法建立人体上肢5自由度模型,仿真模拟了上肢手腕部的运动空间,以确保训练方案的安全性.在Unreal Engine 4中构建虚拟康复训练场景,患者通过操纵控制器触碰虚拟场景中的目标点完成相应训练任务.经上肢行为正常人士及偏瘫病人临床测试,训练任务有效促进了病人参与康复训练的主动性,运动轨迹记录可及时反馈患肢的运动情况,系统满足康复训练的需求.
As the effect of hemiplegia patients in rehabilitation training is inefficient due to the weak initiative and indistinct purpose,in this paper,an upper limb rehabilitation training program for hemiplegia patients based on wearable device HTC VIVE was proposed,and a task-oriented rehabilitation training system was designed and implemented. Based on the theory of human upper limb kinematics,a 5-DOF model of human upper extremity was established by using D-H parameter method,and the movement space of the wrist was simulated to ensure the safety of training. The training program and the construction of virtual environment were completed in Unreal Engine 4. The training task was executed by manipulating the controller to touch the target points in the virtual scene. The clinical tests of normal persons and hemiplegia with upper limbs verified that the training task effectively promoted the patient's initiative in participating in rehabilitation training. The motion track records of limb movement can be feedback timely,and the requirements of rehabilitation training can be fulfilled.
As the effect of hemiplegia patients in rehabilitation training is inefficient due to the weak initiative and indistinct purpose,in this paper,an upper limb rehabilitation training program for hemiplegia patients based on wearable device HTC VIVE was proposed,and a task-oriented rehabilitation training system was designed and implemented. Based on the theory of human upper limb kinematics,a 5-DOF model of human upper extremity was established by using D-H parameter method,and the movement space of the wrist was simulated to ensure the safety of training. The training program and the construction of virtual environment were completed in Unreal Engine 4. The training task was executed by manipulating the controller to touch the target points in the virtual scene. The clinical tests of normal persons and hemiplegia with upper limbs verified that the training task effectively promoted the patient's initiative in participating in rehabilitation training. The motion track records of limb movement can be feedback timely,and the requirements of rehabilitation training can be fulfilled.
引文
[1]孙熠璇.基于虚拟环境训练及视觉运动辨识的上肢康复技术研究[D].黑龙江:哈尔滨工业大学,2014.
[2]SOFFEL F,ZANK M,KUNZ A.Postural stability analysis in virtual reality using the HTC vive[C]∥ACM Conference on Virtual Reality Software and Technology.ACM,2016:351-352.
[3]张洪震.上肢康复机器人主动康复的虚拟现实训练系统研究[D].天津:河北工业大学,2013.
[4]吴青聪.套索驱动重力平衡上肢康复外骨骼研究[D].南京:东南大学,2016:50-54.
[5]COVARRUBIAS M,BORDEGONI M,ROSINI M,et al.VR system for rehabilitation based on hand gestural and olfactory interaction[C]∥ACM Symposium on Virtual Reality Software and Technology,ACM,2015:117-120.
[2]SOFFEL F,ZANK M,KUNZ A.Postural stability analysis in virtual reality using the HTC vive[C]∥ACM Conference on Virtual Reality Software and Technology.ACM,2016:351-352.
[3]张洪震.上肢康复机器人主动康复的虚拟现实训练系统研究[D].天津:河北工业大学,2013.
[4]吴青聪.套索驱动重力平衡上肢康复外骨骼研究[D].南京:东南大学,2016:50-54.
[5]COVARRUBIAS M,BORDEGONI M,ROSINI M,et al.VR system for rehabilitation based on hand gestural and olfactory interaction[C]∥ACM Symposium on Virtual Reality Software and Technology,ACM,2015:117-120.