下肢康复设备的用户定制设计方法研究

Research on the User Customized Design Method of the Rehabilitation Device for the Lower Limb

针对不同下肢功能患者的自主康复训练与辅助站立问题,研究了一种基于视觉技术和运动捕捉技术的少自由度下肢通用型康复设备定制设计方法。通过计算机视觉方法追踪手动标定的关节点位,以智能手机作为终端,获取关节的运动轨迹。利用无迹卡尔曼滤波(UKF)将得到的轨迹数据进行优化,工厂终端利用这些优化后的轨迹信息实现下肢康复设备的定制设计。当前已制造出物理样机,通过受试者的坐立运动(STS)物理相容性实验验证了设计方法的有效性。

Aiming at the problem of independent rehabilitation training and assisted standing for different patients with lower limb functions,a customized design method of lower degree of freedom lower limb general rehabilitation equipment based on computer vision and motion capture technology was studied. The manually calibrated joint points are tracked by computer vision method,and the motion trajectory of the joint is obtained by the smartphone. The trajectory data are optimized by UKF technology,and the customized design of lower limb rehabilitation equipment is implemented by the manufacturer using these optimized trajectory information. At present,the physical prototype has been produced,and the effectiveness of the design method is verified by the STS motion physical compatibility experiment of the subjects.