摘要
脑神经损伤及认知衰退人群存在运动能力下降、言语功能退化、跌倒风险增大等问题,目前的功能康复机器人主要关注于被动训练,运动康复效果不佳.设计了一款新型认知运动康复机器人,开发其"感知—认知—运动"多模态智能感知交互功能.采用Pepper机器人搭建了一个集认知、运动康复训练为一体的康复机器人系统:首先,设计了多模态的智能感知及交互系统,实现了与患者的视听触觉交互和言语训练;其次,利用机器人声呐、激光和视觉实现实时地图构建及人体追踪;最后,将深度学习方法应用到机器人上,实现了基于机器人视觉的人体姿态识别,为下一步通过视频图像判别人体稳定性提供了可行性方法.实验结果显示设计的康复机器人系统在认知运动协同康复训练过程中具有正作用,该研究初步证明了智能机器人在医疗辅助康复训练上的可行性,被期望未来用于居家及临床上的认知运动协同康复.
People with brain nerve injury and cognitive decline have reduced physical exercise,degraded speech function,and increased risk of falling.The current functional rehabilitation robots mainly focus on passive training,with poor sports rehabilitation performance.Therefore,we studiy a new type of cognitive sports rehabilitation robot and develop its“perception-cognition-motion”multi-modal intelligent perception interaction function.The Pepper robot is used to build a rehabilitation robot system that integrates cognitive and sports rehabilitation training.First,a multi-modal intelligent perception and interaction system is designed to realize the patient′s audio-visual tactile interaction and speech training.Next,the robot uses Sonar,laser,and vision to realize real-time map construction and human tracking.Finally,the deep learning method is applied to the robot to achieve human posture recognition based on robot vision,which provides a feasible method for judging the stability of the human body through video images.The experimental results show that the developed rehabilitation robot system positively affects the process of cognitive sports collaborative rehabilitation training.The research proves the feasibility of intelligent robots in medical-assisted rehabilitation training and is expected to be used for home and clinical cognition during synergistic rehabilitation exercises.
作者
张宇
刁亚楠
梁升云
叶超翔
周艳霞
赵国如
ZHANG Yu;DIAO Yanan;LIANG Shengyun;YE Chaoxiang;ZHOU Yanxia;ZHAO Guoru(Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518000,China;University of Chinese Academy of Sciences,Beijing 100190,China;Shenzhen Second People's Hospital,Shenzhen 518035,China)
出处
《信息与控制》
CSCD
北大核心
2021年第6期740-747,760,共9页
Information and Control
基金
深圳市基础研究学科布局项目(JCYJ20170818163505850)
山东省重大科技创新工程项目(2019JZZY011112)
广东省“特支计划”项目(2019TQ05Z735)。
关键词
医疗机器人
认知—运动康复训练
人机交互
目标跟踪
姿态估计
medical robot
cognitive-motor rehabilitation training
human-computer interaction
target tracking
pose estimation
作者简介
张宇(1995-),男,硕士生.研究领域为机器人,生物力学,深度学习;刁亚楠(1994-),男,博士生.研究领域为机器学习,智慧医疗;梁升云(1991-),女,博士生.研究领域为模式识别,深度学习;通讯作者:赵国如,gr.zhao@siat.ac.cn。
