• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

基于机器人和虚拟现实的上肢姿势估计在康复中的应用。

Upper limb posture estimation in robotic and virtual reality-based rehabilitation.

机构信息

eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain ; Laboratorio de CAD CAM CAE, Universidad EAFIT, Carrera 49 No. 7 Sur-50, 050022 Medellín, Colombia.

eHealth and Biomedical Applications, Vicomtech-IK4, Mikeletegi Pasealekua 57, 20009 San Sebastián, Spain.

出版信息

Biomed Res Int. 2014;2014:821908. doi: 10.1155/2014/821908. Epub 2014 Jul 8.

DOI:10.1155/2014/821908
PMID:25110698
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC4119692/
Abstract

New motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, since the human and exoskeleton kinematic models differ. In response to this shortcoming, we propose a method to estimate the posture of the human limb attached to the exoskeleton. We use the exoskeleton joint angles measurements and the constraints of the exoskeleton on the limb to estimate the human limb joints angles. This paper presents (a) the mathematical formulation and solution to the problem, (b) the implementation of the proposed solution on a commercial exoskeleton system for the upper limb rehabilitation, (c) its integration into a rehabilitation VR game platform, and (d) the quantitative assessment of the method during elbow and wrist analytic training. Results show that this method properly estimates the limb posture to (i) animate avatars that represent the patient in VR games and (ii) obtain kinematic data for the patient assessment during elbow and wrist analytic rehabilitation.

摘要

新型运动康复治疗包括虚拟现实 (VR) 和机器人技术。在肢体康复中，肢体姿势需要 (1) 在 VR 游戏中提供肢体的真实表示，以及 (2) 评估患者的改善情况。当外骨骼设备用于治疗时，不能直接使用它们的关节角度测量值来表示患者肢体的姿势，因为人体和外骨骼运动学模型不同。针对这一缺点，我们提出了一种估计附接到外骨骼的人体肢体姿势的方法。我们使用外骨骼关节角度测量值和外骨骼对肢体的约束来估计人体肢体关节角度。本文介绍了 (a) 问题的数学公式和解决方案，(b) 在上肢康复用商业外骨骼系统上实现所提出的解决方案，(c) 将其集成到康复 VR 游戏平台中，以及 (d) 在肘部和手腕分析训练期间对该方法进行定量评估。结果表明，该方法可以正确估计肢体姿势，(i) 在 VR 游戏中为代表患者的化身进行动画处理，以及 (ii) 在肘部和手腕分析康复期间为患者评估获取运动学数据。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/d6c5ad0ef36b/BMRI2014-821908.014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/8574ff084161/BMRI2014-821908.001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/209801c092df/BMRI2014-821908.002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/ee191f021fa9/BMRI2014-821908.003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/751998d0f84f/BMRI2014-821908.004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/595ec4a7bbd6/BMRI2014-821908.005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/1c670babee7e/BMRI2014-821908.006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/d8a30881f4dd/BMRI2014-821908.007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/199eb1783429/BMRI2014-821908.008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/7f4e5b611b25/BMRI2014-821908.009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/47e13cfcac01/BMRI2014-821908.010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/e7be0fd9bd59/BMRI2014-821908.011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/7e4dcc7154bd/BMRI2014-821908.012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/64f1bcbfac4c/BMRI2014-821908.013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/d6c5ad0ef36b/BMRI2014-821908.014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/8574ff084161/BMRI2014-821908.001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/209801c092df/BMRI2014-821908.002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/ee191f021fa9/BMRI2014-821908.003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/751998d0f84f/BMRI2014-821908.004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/595ec4a7bbd6/BMRI2014-821908.005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/1c670babee7e/BMRI2014-821908.006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/d8a30881f4dd/BMRI2014-821908.007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/199eb1783429/BMRI2014-821908.008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/7f4e5b611b25/BMRI2014-821908.009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/47e13cfcac01/BMRI2014-821908.010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/e7be0fd9bd59/BMRI2014-821908.011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/7e4dcc7154bd/BMRI2014-821908.012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/64f1bcbfac4c/BMRI2014-821908.013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/1a23/4119692/d6c5ad0ef36b/BMRI2014-821908.014.jpg

相似文献

1
Upper limb posture estimation in robotic and virtual reality-based rehabilitation.基于机器人和虚拟现实的上肢姿势估计在康复中的应用。
Biomed Res Int. 2014;2014:821908. doi: 10.1155/2014/821908. Epub 2014 Jul 8.
2
Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation.用于外骨骼辅助康复中上肢复合运动估计的逆运动学
Biomed Res Int. 2016;2016:2581924. doi: 10.1155/2016/2581924. Epub 2016 Jun 15.
3
Human arm joints reconstruction algorithm in rehabilitation therapies assisted by end-effector robotic devices.康复治疗中末端执行器机器人辅助的人类手臂关节重建算法。
J Neuroeng Rehabil. 2018 Feb 20;15(1):10. doi: 10.1186/s12984-018-0348-0.
4
Pilot Study of a Powered Exoskeleton for Upper Limb Rehabilitation Based on the Wheelchair.基于轮椅的上肢康复动力外骨骼的初步研究
Biomed Res Int. 2019 Dec 17;2019:9627438. doi: 10.1155/2019/9627438. eCollection 2019.
5
Modifying upper-limb inter-joint coordination in healthy subjects by training with a robotic exoskeleton.通过使用机器人外骨骼进行训练来改变健康受试者上肢关节间的协调性。
J Neuroeng Rehabil. 2017 Jun 12;14(1):55. doi: 10.1186/s12984-017-0254-x.
6
Adaptive control based on an on-line parameter estimation of an upper limb exoskeleton.基于上肢外骨骼在线参数估计的自适应控制
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:695-701. doi: 10.1109/ICORR.2017.8009329.
7
Development and preliminary evaluation of a novel low cost VR-based upper limb stroke rehabilitation platform using Wii technology.一种使用Wii技术的新型低成本虚拟现实上肢中风康复平台的开发与初步评估。
Disabil Rehabil Assist Technol. 2016;11(5):413-22. doi: 10.3109/17483107.2014.981874. Epub 2014 Nov 13.
8
Game-Based Virtual Reality System for Upper Limb Rehabilitation After Stroke in a Clinical Environment: Systematic Review and Meta-Analysis.基于游戏的虚拟现实系统在临床环境下用于脑卒中后上肢康复的系统评价和 Meta 分析。
Games Health J. 2022 Oct;11(5):277-297. doi: 10.1089/g4h.2022.0086.
9
Commercial head-mounted display virtual reality for upper extremity rehabilitation in chronic stroke: a single-case design study.商业头戴式显示虚拟现实用于慢性脑卒中上肢康复：单病例设计研究。
J Neuroeng Rehabil. 2020 Nov 23;17(1):154. doi: 10.1186/s12984-020-00788-x.
10
[Research and Development of A Kinect Based Virtual System for Upper Limb Rehabilitation].基于Kinect的上肢康复虚拟系统的研发
Sheng Wu Yi Xue Gong Cheng Xue Za Zhi. 2015 Jun;32(3):563-8.

引用本文的文献

1
Robotic systems for upper-limb rehabilitation in multiple sclerosis: a SWOT analysis and the synergies with virtual and augmented environments.用于多发性硬化症上肢康复的机器人系统：SWOT分析以及与虚拟和增强环境的协同作用
Front Robot AI. 2024 Feb 27;11:1335147. doi: 10.3389/frobt.2024.1335147. eCollection 2024.
2
Beyond Human Detection: A Benchmark for Detecting Common Human Posture.超越人类检测：检测常见人体姿势的基准
Sensors (Basel). 2023 Sep 24;23(19):8061. doi: 10.3390/s23198061.
3
Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity.

本文引用的文献

1
Analysis of the reliability and reproducibility of goniometry compared to hand photogrammetry.与手部摄影测量法相比，角度测量法的可靠性和可重复性分析。
Acta Ortop Bras. 2012;20(3):139-49. doi: 10.1590/S1413-78522012000300003.
2
Admittance control of an upper limb exoskeleton--reduction of energy exchange.
Annu Int Conf IEEE Eng Med Biol Soc. 2012;2012:6467-70. doi: 10.1109/EMBC.2012.6347475.
3
Positive effects of robotic exoskeleton training of upper limb reaching movements after stroke.机器人外骨骼对上运动神经元损伤后上肢伸展运动的积极影响。
冗余系统中的逆运动学参数识别：人类上肢关节间协调关系的量化研究。
PLoS One. 2022 Dec 16;17(12):e0278228. doi: 10.1371/journal.pone.0278228. eCollection 2022.
4
The Effects of Sit-to-Stand Training Combined with Real-Time Visual Feedback on Strength, Balance, Gait Ability, and Quality of Life in Patients with Stroke: A Randomized Controlled Trial.坐站训练联合实时视觉反馈对脑卒中患者肌力、平衡、步态能力和生活质量的影响：一项随机对照试验。
Int J Environ Res Public Health. 2021 Nov 21;18(22):12229. doi: 10.3390/ijerph182212229.
5
A self-aligning end-effector robot for individual joint training of the human arm.一种用于人体手臂单个关节训练的自对准末端执行器机器人。
J Rehabil Assist Technol Eng. 2021 Aug 20;8:20556683211019866. doi: 10.1177/20556683211019866. eCollection 2021 Jan-Dec.
6
Serious Gaming Technology in Upper Extremity Rehabilitation: Scoping Review.上肢康复中的严肃游戏技术：范围综述
JMIR Serious Games. 2020 Dec 11;8(4):e19071. doi: 10.2196/19071.
7
Speed-Interactive Pedaling Training Using Smartphone Virtual Reality Application for Stroke Patients: Single-Blinded, Randomized Clinical Trial.使用智能手机虚拟现实应用程序对中风患者进行速度交互踏板训练：单盲随机临床试验
Brain Sci. 2019 Oct 27;9(11):295. doi: 10.3390/brainsci9110295.
8
Evaluating the effect and mechanism of upper limb motor function recovery induced by immersive virtual-reality-based rehabilitation for subacute stroke subjects: study protocol for a randomized controlled trial.评估基于沉浸式虚拟现实的康复对亚急性中风患者上肢运动功能恢复的效果及机制：一项随机对照试验的研究方案
Trials. 2019 Feb 6;20(1):104. doi: 10.1186/s13063-019-3177-y.
9
A survey of human shoulder functional kinematic representations.人体肩部功能运动学表现的调查。
Med Biol Eng Comput. 2019 Feb;57(2):339-367. doi: 10.1007/s11517-018-1903-3. Epub 2018 Oct 26.
10
A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait.一种用于预测外骨骼辅助步态中人体运动的特定主体运动学模型。
Front Neurorobot. 2018 Apr 27;12:18. doi: 10.3389/fnbot.2018.00018. eCollection 2018.
J Neuroeng Rehabil. 2012 Jun 9;9:36. doi: 10.1186/1743-0003-9-36.
4
Redundancy resolution of the human arm and an upper limb exoskeleton.人手和上肢外骨骼的冗余度解析。
IEEE Trans Biomed Eng. 2012 Jun;59(6):1770-9. doi: 10.1109/TBME.2012.2194489. Epub 2012 Apr 11.
5
A robotic device as a sensitive quantitative tool to assess upper limb impairments in stroke patients: a preliminary prospective cohort study.一种机器人设备作为评估中风患者上肢损伤的敏感定量工具：一项初步的前瞻性队列研究。
J Rehabil Med. 2012 Mar;44(3):210-7. doi: 10.2340/16501977-0926.
6
Theories and control models and motor learning: clinical applications in neuro-rehabilitation.理论、控制模型与运动学习：在神经康复中的临床应用
Neurologia. 2015 Jan-Feb;30(1):32-41. doi: 10.1016/j.nrl.2011.12.010. Epub 2012 Feb 18.
7
Exoskeleton robots for upper-limb rehabilitation: state of the art and future prospects.外骨骼机器人在上肢康复中的应用：现状与未来展望。
Med Eng Phys. 2012 Apr;34(3):261-8. doi: 10.1016/j.medengphy.2011.10.004. Epub 2011 Nov 2.
8
A robotic system to train activities of daily living in a virtual environment.用于在虚拟环境中训练日常生活活动的机器人系统。
Med Biol Eng Comput. 2011 Oct;49(10):1213-23. doi: 10.1007/s11517-011-0809-0. Epub 2011 Jul 28.
9
The reliability and concurrent validity of scapular plane shoulder elevation measurements using a digital inclinometer and goniometer.使用数字倾角计和量角器测量肩胛骨平面肩提升的可靠性和同时效度。
Physiother Theory Pract. 2012 Feb;28(2):161-8. doi: 10.3109/09593985.2011.574203. Epub 2011 Jul 3.
10
Functionally interpretable local coordinate systems for the upper extremity using inertial & magnetic measurement systems.使用惯性和磁测量系统的上肢功能可解释的局部坐标系。
J Biomech. 2010 Jul 20;43(10):1983-8. doi: 10.1016/j.jbiomech.2010.03.007. Epub 2010 Apr 10.