? 云环境下多模式人机交互的上肢康复训练系统
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Journal of Computer Science and Technology 2017, Vol. 32 Issue (2) :258-268    DOI: 10.1007/s11390-017-1720-4
Special Section on MOST Cloud and Big Data << Previous Articles | Next Articles >>
云环境下多模式人机交互的上肢康复训练系统
Hui-Jun Li, Ai-Guo Song, Senior Member, IEEE
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
Architectural Design of a Cloud Robotic System for Upper-Limb Rehabilitation with Multimodal Interaction
Hui-Jun Li, Ai-Guo Song, Senior Member, IEEE
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

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摘要 目的:及早进行科学合理的康复训练对于肢体运动功能障碍患者的运动功能恢复是十分重要和关键的医疗手段。针对当前专业治疗师短缺的现状,提出了一种云机器人康复训练机器人系统,为训练对象提供基于互联网的远程康复训练。
创新点:构建基于网络的多模态交互远程康复训练系统,设计了渐进式娱乐康复训练游戏,为训练对象提供视觉、力触觉、听觉等多种模式的交互,训练对象通过交互设备控制虚拟游戏中的代理,计算机图形显示几何运动结果并根据虚拟代理与虚拟环境的相互作用情况为训练对象提供力触觉和听觉反馈。同时视频/音频信息和运动/生理数据都被传送到治疗师用于监测和分析训练对象状况。通过这种方式,治疗师可以诊断和指导患者。其次,中央服务器上的专家库以及云资源可以训练对象历史数据、当前训练数据和生理数据提供康复训练建议。
方法:在该系统中,治疗师和受试者通过使用客户端/服务器架构的因特网连接。在客户端,训练对象通过交互设备与渐进式娱乐康复训练游戏进行交互,治疗师可以通过网络监测和控制远地训练对象的训练参数和相关生理参数。
结论:将交互机器人技术与云计算相结合,不仅可以降低医疗和护理成本,还可以为更多的肢体功能障碍患者和老年人提供康复服务,无论对患者和治疗师都更为经济便利,更具有“普惠”的意义。
关键词网络机器人   多模态交互   运动康复   力触觉反馈     
Abstract: The rise in the cases of motor impairing illnesses demands the research for improvements in rehabilitation therapy. Due to the current situation that the service of the professional therapists cannot meet the need of the motorimpaired subjects, a cloud robotic system is proposed to provide an Internet-based process for upper-limb rehabilitation with multimodal interaction. In this system, therapists and subjects are connected through the Internet using client/server architecture. At the client site, gradual virtual games are introduced so that the subjects can control and interact with virtual objects through the interaction devices such as robot arms. Computer graphics show the geometric results and interaction haptic/force is fed back during exercising. Both video/audio information and kinematical/physiological data are transferred to the therapist for monitoring and analysis. In this way, patients can be diagnosed and directed and therapists can manage therapy sessions remotely. The rehabilitation process can be monitored through the Internet. Expert libraries on the central server can serve as a supervisor and give advice based on the training data and the physiological data. The proposed solution is a convenient application that has several features taking advantage of the extensive technological utilization in the area of physical rehabilitation and multimodal interaction.
Keywordscloud robot   multimodal interaction   motor rehabilitation   haptic/force feedback     
Received 2016-11-08;
本文基金:

This work was supported by the National Key Research and Development Program of China under Grant No. 2016YFB1001300, the National Natural Science Foundation of China under Grant No. 61403080, and the Natural Science Foundation of Jiangsu Province Technology Support Plan under Grant No. BK20140641.

About author: Hui-Jun Li received her B.S. degree in measurement and control in 1999, and M.S. degree in condensed matter physics in 2002 from Zhengzhou University, Zhengzhou, and Ph.D. degree in measurement and control from Southeast University, Nanjing, in 2005. She is currently an associate professor with the School of Instrument Science and Engineering, Southeast University, Nanjing. Her research interests are on teleoperation, space robot and rehabilitation robot.
引用本文:   
Hui-Jun Li, Ai-Guo Song.云环境下多模式人机交互的上肢康复训练系统[J]  Journal of Computer Science and Technology , 2017,V32(2): 258-268
Hui-Jun Li, Ai-Guo Song.Architectural Design of a Cloud Robotic System for Upper-Limb Rehabilitation with Multimodal Interaction[J]  Journal of Computer Science and Technology, 2017,V32(2): 258-268
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