基于二次映射方法上肢康复训练的虚拟路径研究

A research on secondary mapping method to virtual motion path of rehabilitation of upper limbs

目的:为了提高前向通道输入数据的应用性,保证上肢康复训练的有效性和可行性,研究基于虚拟运动路径在脑卒中患者上肢康复训练中的应用价值。方法:通过了解上肢在运动过程中表现出的结构特性,探索控制量的二次映射方法,对康复训练的前向通道的信息进行研究;对虚拟运动路径中特征变化的分析,并结合虚拟运动路径中蕴含着的运动学特性,提出了针对康复训练中虚拟运动路径的跟踪与分析方法。结果:当发生训练场景较大变化或者目标任务的转换,运动会产生平滑度的变化,伴随着加速度也会产生明显的突跳,其运动的平滑度也会产生变化。结论:一种可行的二次映射联系进行数据预处理方法的形成,可以协助患者正确地实施并完成康复训练动作,并且基于路径的运动学特征参数的分析方法的形成,对基于虚拟路径评估的康复训练系统具有一定的指导意义。

Objective： To research the application value of virtual motion paths in upper limbs rehabilitation of stroke pa- tients, to ensure the effectiveness and feasibility of rehabilitation training. Method： By understanding the structure characteristics of upper limbs in the course of campaign, the second- ary mapping method about virtual control data was explored and the focus was put on the input information of rehabilitation training. By analyzing the changes of virtual motion path characteristics and kinematic attribute of virtual motion paths,the tracking and analysis method in the virtual motion paths rehabilitation were provided. Result： When there was a training scenario major changes or goal task conversion, the smoothness of motion- would generate changes, along with significant step of acceleration, the smoothness of movement would also change. Conclusion：The initial formation of a viable secondary mapping data preprocessing method is helpful for pa- tients implementing and completing the rehabilitation action correctly, and the foundation of virtual motion path analysis method and theory based on the kinematic characteristics have a certain significance on the virtual path of the rehabilitation assessment system. Author＇s address Shanghai Key Lab of Mechanical Automation and Robotics, School of Mechatronic Engineer- ing and Automation, Shanghai University, Shanghai, 200072