阅读说明：本技术 一种基于外骨骼的智能运动康复治疗与训练系统 (Intelligent movement rehabilitation treatment and training system based on exoskeleton ) 是由 黄葵 何雨枫 樊茜 饶国希 刘志军 于 2021-08-02 设计创作，主要内容包括：本发明充分挖掘现有机械外骨骼的发展趋势、康复治疗的需求、患者机体的差异性、实战磨砺训练需求,结合最新的智能分析推理算法的研究进展、智能交互设备的能力可扩展性,提出一种融合智能化外骨骼系统、智能检测系统、本地控制中心、智能交互系统、安全系统、智能检测系统等为一体的智能运动康复治疗与训练系统。智能检测系统自动检测监测机体的各项身体状态能力；智能化外骨骼系统在具备外骨骼辅助运动能力的同时,赋予智能感知运动接触表面状态信息能力、数字化运动可控能力。智能康复控制中心驱动智能机械外骨骼系统配合人体开展康复治疗与训练。智能交互系统提供与人体友好的交互能力。安全系统在康复治疗与训练过程中进行安全保障。(The invention provides an intelligent motion rehabilitation and training system integrating an intelligent exoskeleton system, an intelligent detection system, a local control center, an intelligent interaction system, a safety system, an intelligent detection system and the like into a whole by fully exploiting the development trend of the existing mechanical exoskeleton, the requirement of rehabilitation therapy, the difference of the patient organism and the requirement of actual combat training and combining the research progress of the latest intelligent analysis reasoning algorithm and the capability expandability of intelligent interaction equipment. The intelligent detection system automatically detects and monitors various body state abilities of the body; the intelligent exoskeleton system has the exoskeleton auxiliary motion capability and simultaneously gives intelligent sensing motion contact surface state information capability and digital motion controllable capability. The intelligent rehabilitation control center drives the intelligent mechanical exoskeleton system to cooperate with a human body to carry out rehabilitation treatment and training. The intelligent interactive system provides the interactive capability of being friendly to the human body. The safety system carries out safety guarantee in the rehabilitation treatment and training process.)

1. An intelligent locomotion rehabilitation therapy and training system based on an exoskeleton, comprising:

the local control center is used for carrying out detection data analysis, monitoring condition analysis, patient body state analysis, rehabilitation plan making, rehabilitation model generation and rehabilitation effect evaluation, and realizing intelligent analysis and decision making and rehabilitation training model customization and optimization; controlling an intelligent detection system, an intelligent exoskeleton system, an intelligent interaction system and a safety system; performing data interaction with a cloud intelligent rehabilitation control center;

the intelligent detection system is used for comprehensively detecting and monitoring the patient and the external environment in real time and acquiring the relevant information of the human body and the relevant information of the outside in real time; judging the health state and the fatigue state of the human body according to the relevant information of the human body; analyzing external related information, determining barrier injury information, dangerous object approaching information and patient falling or slipping information, and sending the information to a safety system so that the safety system can make decisions and protect the patient;

the intelligent exoskeleton system is used for providing various exercises for the patient and helping the patient to complete treatment and training;

the intelligent interactive system is used for friendly guiding the patient to pleasantly and effectively carry out rehabilitation treatment and training, carrying out real-time tracking analysis on various data in the rehabilitation process and putting the patient into an actual combat training scene; dynamically playing back and repeating the rehabilitation process, and dynamically analyzing the training result to enhance the confidence of the patient;

the safety system is linked with other systems and used for analyzing and detecting the body state, the equipment state and the external environment information of the patient; according to the analysis result, danger avoidance and safety protection are carried out in time, and the safety of the treatment and training process is ensured;

the cloud intelligent rehabilitation control center is used for completing research and development of various exoskeleton devices, research and development and modeling of exoskeleton intelligent control algorithms, research and development and modeling of human body signal detection devices and algorithms, research and development of exercise rehabilitation and training models, research and development and modeling of intelligent interactive systems and research and modeling of safety systems; issuing a human body detection and monitoring model, a rehabilitation therapy model, a safety system model, an intelligent interaction model and model information; monitoring the running state of each exercise rehabilitation device; anonymously collecting rehabilitation feedback data so as to further modify each algorithm model; and (3) constructing an adaptive model and an algorithm, getting through the cross-system and cross-platform problems of customized equipment, character cooperation and multi-equipment cooperation, and realizing safe and efficient communication.

2. The exoskeleton-based intelligent locomotion rehabilitation and training system of claim 1, wherein the human-related information includes: in-vivo information and body surface information; in vivo signals include: blood pressure, heartbeat, heart rate, oxygen consumption, and electroencephalogram; the body surface signals include: facial expressions, skeletal muscle signals, motor joint signals, and skeletal signals; the external related information includes: human motion information and environmental information; the human motion information includes: grasping speed, stretching speed, ground contact force, moving speed, stretching speed, lifting speed, gait and gesture; the environment information includes: peripheral obstacles, obstacle forms, obstacle movement directions, obstacle movement speeds, ground surface states, contact states, and points of regard.

3. The exoskeleton-based intelligent locomotion rehabilitation and training system of claim 1, wherein the intelligent exoskeleton system comprises:

the exoskeleton skeleton is used for providing basic motion support and a motion development entity and assisting a patient to develop motion; actively traction the patient to move under the control of a local control center;

the perception monitor is used for detecting the combination degree of the exoskeleton skeleton and a human body, the stimulation signals and the motion state of a human body related motion organism, the contact state of the exoskeleton skeleton and the external environment and the motion speed of the exoskeleton skeleton, and fully expanding the human-like body perception capability of the exoskeleton skeleton;

the microprocessor is used for providing decision analysis for the exoskeleton skeleton and controlling the exoskeleton skeleton; analyzing the information detected by the perception monitor, and adjusting an optimized training mode and optimizing the execution of a training model according to the analysis result; and carrying out data interaction with a local control center.

4. The exoskeleton-based intelligent locomotion rehabilitation and training system of claim 1, wherein the intelligent interactive system comprises:

the content module is used for combining the built-in content generation model according to different modes and different stages of treatment and training, dynamically generating different interactive contents and outputting the interactive contents to the display module so as to display the simulated three-dimensional training process to the patient; recording a real-time on-site video in the training process, combining a training part, a training mode and motion contents, adding comment and evaluation contents in real time in a dynamic video by adopting a built-in video content generator, outputting the comment and evaluation contents to a display module to show a three-dimensional training process with real-time comment and evaluation marks for a patient, so that the effectiveness of the patient on treatment and training is visible in real time, and the effectiveness of the patient on cognitive motion is accelerated; after the training process is finished, the historical training video is processed, the error movement is marked in the historical training video by combining the training part, the training mode and the movement content, the correct movement demonstration is given, and the three-dimensional training process with the error movement and the correct movement demonstration is output to the display module so as to be displayed to the patient, and the understanding of the patient on the error movement and the mastering of the correct movement are deepened;

the interaction module is used for friendly interaction with the patient through a plurality of interaction devices; wherein, the interactive form with the patient comprises: audio communication, video communication, visual annotation point focusing, eye movement tracking, blink detection, gesture recognition, handle control, button operation and touch screen interface communication;

the display module is used for starting a display function according to the training mode; wherein, the display function includes: 3D virtual reality demonstration before training, augmented reality real-time state feedback and comment content display in the training process, mixed reality double-disk correction after training, video recording replay; apparatus for presentation, comprising: the system comprises a mobile phone, a display and intelligent interaction equipment; intelligent interaction device, comprising: smart glasses and smart helmets;

the feedback module is used for starting feedback detection according to the training mode and dynamically detecting the reaction and preference information of the patient in interaction; and adjusting the interactive form and the display content form with the patient according to the reaction and the preference information of the patient.

5. The exoskeleton-based intelligent locomotion rehabilitation and training system of claim 1, wherein the safety system is specifically configured to:

dynamically analyzing whether the patient is in a dangerous state of drowsiness, unconsciousness and paroxysmal diseases;

dynamically analyzing whether the current intelligent exoskeleton system, the intelligent interaction system and the local control center are in a normal working state and whether the motion is controllable;

dynamically analyzing whether danger exists around the environment;

performing security decision according to the collected dynamic analysis result; if the current danger can be avoided according to the collected dynamic analysis result, taking danger avoiding measures; and if the current danger is determined to be unavoidable according to the collected dynamic analysis result, starting a safety protection measure.

6. The exoskeleton-based intelligent locomotion rehabilitation and training system of claim 1, further comprising: an expansion interface system and a customized special rehabilitation device; the customized special rehabilitation equipment performs data interaction with the local control center through the expansion connection system port to acquire training process modeling data, so that a patient can be directly adapted to the customized special rehabilitation equipment to develop production and life after rehabilitation.

7. The intelligent exoskeleton-based locomotion rehabilitation therapy and training system of claim 6, wherein the customized dedicated rehabilitation device can work independently after the debugging and testing, and can be used for indoor and outdoor therapy and training without the help of professional personnel; wherein, the special recovered equipment of customization includes: the system comprises customized rehabilitation equipment, cooperative rehabilitation equipment and Internet of things equipment.

8. The exoskeleton-based intelligent locomotion rehabilitation and training system of claim 7, wherein the extended interface system comprises:

the human body detector interface is used for connecting the brain wave detector, replacing manual, voice and eye movement information input modes, and directly detecting the brain waves of the patient through the brain wave detector to obtain the movement intention of the patient; or, the muscle nerve signal detector is connected to replace the mode of indirectly acquiring the motion state of the patient such as body detection analysis, motion detection analysis and the like, and the motion state of the patient is directly output;

the exoskeleton detector interface is used for being connected with a surface layer touch sensor to replace the human body surface layer touch; or, a grip strength detection sensor is connected to sense the mechanical bone gripping degree; or, a contact sensor is connected to detect the contact degree and the contact stress of the lower limb skeleton and the ground surface, and whether the walking exertion is proper or not is analyzed;

the intelligent skeleton interface is used for connecting the back posture correction exoskeleton equipment and correcting wrong sitting postures; or, the device is connected with a load-bearing spine skeleton device and is used for improving the load-bearing capacity of the human body;

the data and program manual butt joint interface is used for connecting off-line equipment and updating data and programs by local equipment in a network-free area;

the multi-rehabilitation-equipment cooperative interface is used for being connected with cooperative rehabilitation equipment, performing data sharing and model cooperation with the cooperative rehabilitation equipment, realizing cooperative operation and cooperative training of multiple patients and improving the consistency and effectiveness of training;

the character cooperation integrated interface is used for connecting Internet of things equipment and assisting a patient to realize character information exchange and control on physical equipment; wherein, the persona information exchange includes: the human way information exchange can guide the disabled with lower limbs to plan the path friendly; the people and the vehicles exchange information, and the upper limb disabled person can be guided to drive the vehicle friendly; the information exchange of the human house can guide the disabled and the mobility-handicapped to operate equipment such as televisions, curtains, refrigerators, washing machines and the like in a friendly way, and the human intelligence is expanded;

the customized equipment data model sharing interface is used for connecting customized rehabilitation equipment to replace human body limb functions, and parameters matched with training and the model are output to the customized rehabilitation equipment from the local control center in a condensing manner, so that the customized rehabilitation equipment can directly work and recover the human body functions; outputting model parameters of a specific human body for the formulation of the preference of a specific vermicelli group; outputting special sports data of the athlete for training a new athlete to realize fast motor skill master; motor skill acquisition for humanoid robots.

Technical Field

The invention belongs to the technical field of rehabilitation medical instruments, and particularly relates to an intelligent movement rehabilitation treatment and training system based on an exoskeleton.

Background

Motor ability is a very important skill of the human body, and the impairment or shortage of the skill can seriously affect the abilities of the human body. In recent years, medical technology and mechanical equipment technology at home and abroad are rapidly developed, and researchers have researched equipment such as mechanical exoskeletons, so that the training and treatment can better assist the human body to recover simple motion capability.

The current exoskeleton-type devices either have single functions and can only assist in treating some very simple movements; or a specific therapist is needed for intervention treatment, simple treatment is needed under the guidance of the therapist, the treatment function is single, and the treatment is difficult to continue after discharge; or the training and treatment can be simply performed within a specific small range, for example, the treatment can be performed only in a specific treatment center, and actual combat assistance in actual working life cannot be performed. Most patients in the treatment process can only cooperate with treatment, cannot sense information such as treatment targets, treatment processes, coordination of moving organs, dynamic feedback of treatment and the like in a three-dimensional manner, need to communicate with a therapist for many times, and are poor in interaction effect and poor in curative effect and training effect; moreover, these mechanical exoskeletons are all used in combination with therapy, and have no or only simple feedback capability, so that the patient cannot effectively sense environmental information, and cannot fully use the mechanical exoskeletons. Of course, the current mechanical exoskeleton is more difficult to be efficiently integrated with the body, and the maximum possible possibility is similar to the real body motion capability, so that the patient can completely recover to an undamaged state. In addition, for different patients due to the particularity of body functions and the difference of injuries, personalized customization and differentiated treatment are difficult to achieve in the existing rehabilitation therapy, dynamic adjustment is difficult to achieve according to different progresses of the rehabilitation process, data in the process of treatment rehabilitation are difficult to feed back and share, and correction of a treatment model cannot be achieved.

Disclosure of Invention

The technical problem of the invention is solved: the defects of the prior art are overcome, the intelligent movement rehabilitation therapy and training system based on the exoskeleton is provided, and the defects of the existing movement rehabilitation therapy and training system are overcome.

In order to solve the technical problem, the invention discloses an intelligent movement rehabilitation treatment and training system based on an exoskeleton, which comprises:

the local control center is used for carrying out detection data analysis, monitoring condition analysis, patient body state analysis, rehabilitation plan making, rehabilitation model generation and rehabilitation effect evaluation, and realizing intelligent analysis and decision making and rehabilitation training model customization and optimization; controlling an intelligent detection system, an intelligent exoskeleton system, an intelligent interaction system and a safety system; performing data interaction with a cloud intelligent rehabilitation control center;

the intelligent detection system is used for comprehensively detecting and monitoring the patient and the external environment in real time and acquiring the relevant information of the human body and the relevant information of the outside in real time; judging the health state and the fatigue state of the human body according to the relevant information of the human body; analyzing external related information, determining barrier injury information, dangerous object approaching information and patient falling or slipping information, and sending the information to a safety system so that the safety system can make decisions and protect the patient;

the intelligent exoskeleton system is used for providing various exercises for the patient and helping the patient to complete treatment and training;

the intelligent interactive system is used for friendly guiding the patient to pleasantly and effectively carry out rehabilitation treatment and training, carrying out real-time tracking analysis on various data in the rehabilitation process and putting the patient into an actual combat training scene; dynamically playing back and repeating the rehabilitation process, and dynamically analyzing the training result to enhance the confidence of the patient;

the safety system is linked with other systems and used for analyzing and detecting the body state, the equipment state and the external environment information of the patient; according to the analysis result, danger avoidance and safety protection are carried out in time, and the safety of the treatment and training process is ensured;

the cloud intelligent rehabilitation control center is used for completing research and development of various exoskeleton devices, research and development and modeling of exoskeleton intelligent control algorithms, research and development and modeling of human body signal detection devices and algorithms, research and development of exercise rehabilitation and training models, research and development and modeling of intelligent interactive systems and research and modeling of safety systems; issuing a human body detection and monitoring model, a rehabilitation therapy model, a safety system model, an intelligent interaction model and model information; monitoring the running state of each exercise rehabilitation device; anonymously collecting rehabilitation feedback data so as to further modify each algorithm model; and (3) constructing an adaptive model and an algorithm, getting through the cross-system and cross-platform problems of customized equipment, character cooperation and multi-equipment cooperation, and realizing safe and efficient communication.

The invention has the following advantages:

(1) the invention constructs an intelligent movement rehabilitation treatment and training system based on exoskeleton, which comprises intelligent software and intelligent hardware, and can realize that the state evaluation of a patient, the giving of a rehabilitation scheme, the development of an autonomous rehabilitation plan, the evaluation of a rehabilitation effect and the transfer of a rehabilitation model can be locally and autonomously completed.

(2) The system is internally provided with an intelligent detection and monitoring system, can autonomously analyze the state of a patient in real time, replaces the traditional method that various non-timely tests must be carried out by means of professional medical institutions, can detect and monitor the dynamic change of each index of the body of the patient in real time, and can also dynamically adjust the training process according to the detection and monitoring result.

(3) The system is internally provided with an intelligent exoskeleton system, can be used for sensing, measuring and recording rehabilitation motion process data of a patient according to a rehabilitation model, can also be used for decision-making reasoning and supporting optimization of a rehabilitation training process, can actively provide some motion assistance, implement active motion traction or motion avoidance, can be self-adapted to the body state of the patient, intelligently guides the patient to move, can not only move according to the requirement of the patient, but also can guide the patient to move schematically, and replaces the traditional exoskeleton which can only passively help the patient to provide motion capability.

(4) The intelligent interaction system built in the system can construct active interaction with a patient, replaces professional people to intervene to transmit information, and can realize different interaction capabilities including audio, video, touch screens, keys and the like.

(5) The intelligent interactive system built in the system has real-time content generation capacity, different content generation modes can be adopted before, during and after the rehabilitation training according to the content of the rehabilitation training model, real-time three-dimensional immersive experience is provided, and a patient can fully enter a rehabilitation state.

(6) The intelligent analysis model built in the system can analyze the data of the rehabilitation training process in real time, evaluates and analyzes various motion parameters and target differences, outputs the augmented reality rehabilitation motion evaluation image in real time through the content generation module of the intelligent interactive system, and feeds back the image to a patient in real time, so that the real-time bidirectional capability is realized, and the training and treatment process of learning → correction stimulation → learning → correction is completely illustrated.

(7) The intelligent analysis model built in the system can repeatedly analyze historical rehabilitation training process data, comment and analyze various motion parameters and target differences, outputs a mixed reality rehabilitation motion comment image in real time through a content generation module of the intelligent interaction system, and feeds back the image to a patient in real time, so that real-time bidirectional capacity is realized, and the training and treatment process of training and treatment processes of complete schematic learning → correction stimulation → learning → correction is realized.

(8) The system is internally provided with an intelligent safety system which can dynamically analyze the state information of the environment and the patient in real time, early warn in real time and output safety early warning information, and can actively adopt safety evasion and safety protection strategies.

(9) The system has intelligent rehabilitation model construction capability, can implement specialized formulation, autonomous formulation and DIY formulation of different rehabilitation training modes according to the detected physical state of a patient, the requirement of the patient on rehabilitation requirements and the motion model of human motion organs, and replaces the traditional rehabilitation equipment which must be formulated by professionals to prepare a rehabilitation training model plan.

(10) The system has an intelligent auxiliary rehabilitation training process, can be not limited to developing rehabilitation training in a rehabilitation room, can enter a common home environment, an outdoor environment and the like to develop training, and enables rehabilitation treatment and training of patients to be more convenient and practical.

(11) The system reserves an expansion interface, can realize more training and treatment modes, and has the functions of not being limited to multi-device collaborative training (such as being used for same sports reproduction learning, football team type multi-person sports collaboration and remote collaboration and the like), character collaborative training (the rehabilitation device is communicated with the Internet of things, and the movable range of a human body is expanded), and the like, so that the physical range of the rehabilitation device is greatly expanded, and the system has more application scenes.

(12) The system is internally provided with various intelligent models, including but not limited to an intelligent human parameter analysis model, a motion organ motion model, an exoskeleton intelligent model, an intelligent interaction model, a safety strategy model, a multi-person multi-computer cooperation model, a character cooperation model, a safety strategy model, a rehabilitation effect evaluation model and the like.

Drawings

FIG. 1 is a block diagram of an exoskeleton-based intelligent locomotion rehabilitation and training system according to an embodiment of the present invention;

FIG. 2 is a software schematic of an exoskeleton-based intelligent locomotion rehabilitation and training system in an embodiment of the invention;

FIG. 3 is a diagram illustrating an intelligent interactive training process of an exoskeleton-based intelligent locomotion rehabilitation and training system according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a local self-learning module of an exoskeleton-based intelligent locomotion rehabilitation and training system in an embodiment of the invention;

FIG. 5 is a schematic illustration of a cooperative mode of an exoskeleton-based intelligent locomotion rehabilitation and training system according to an embodiment of the present invention;

FIG. 6 is a functional diagram of an intelligent detection system in an embodiment of the invention;

FIG. 7 is a functional diagram of an intelligent exoskeleton system in an embodiment of the present invention;

FIG. 8 is a functional diagram of an intelligent interactive system in an embodiment of the present invention;

FIG. 9 is a functional diagram of a security system in accordance with an embodiment of the present invention;

FIG. 10 is an immersive interactive motion viewing presentation in accordance with an embodiment of the invention;

FIG. 11 is a diagram illustrating an immersive joint and motion process according to an embodiment of the present invention;

FIG. 12 is a schematic target difference diagram of an immersive joint activity dynamic test in an embodiment of the present invention;

FIG. 13 is a schematic diagram of a display area of an intelligent interactive device according to an embodiment of the present invention;

FIG. 14 is a diagram illustrating an example of intelligently analyzing motion results according to an embodiment of the present invention;

FIG. 15 is a graph illustrating a statistical analysis of a healing process of a certain locomotor apparatus according to an embodiment of the present invention;

fig. 16 is a schematic diagram of a rehabilitation package preparation process in an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The invention provides an intelligent motion rehabilitation and training system integrating an intelligent exoskeleton system, an intelligent detection system, a local control center, an intelligent interaction system, a safety system, an intelligent detection system and the like into a whole by fully exploiting the development trend of the existing mechanical exoskeleton, the requirement of rehabilitation therapy, the difference of the patient organism and the requirement of actual combat training and combining the research progress of the latest intelligent analysis reasoning algorithm and the capability expandability of intelligent interaction equipment. The intelligent detection system automatically detects and monitors various body state abilities of the body; the intelligent exoskeleton system has the exoskeleton auxiliary motion capability and simultaneously gives intelligent sensing motion contact surface state information capability and digital motion controllable capability. The intelligent rehabilitation control center has intelligent analysis reasoning capability, can intelligently construct a rehabilitation course according to the detected body state and the rehabilitation requirement of a patient, has the capability of personalized customization and differentiated course formulation, and can drive the intelligent mechanical exoskeleton system to cooperate with the human body to carry out rehabilitation treatment and training. The intelligent interactive system fully develops various human-friendly interactive abilities including brain signals, muscle signals, visual signals, voice signals and the like, and endows various display abilities such as augmented reality, virtual reality, mixed reality and the like, so that a patient has the ability of going out of a rehabilitation room for treatment and training. The safety system is an independent system, monitors the physical state safety and the external safety of the patient in the whole course in the rehabilitation treatment and training process, has the capabilities of safe evading guidance, emergency safety protection and the like, and guides the patient to carry out safe and effective rehabilitation treatment and training.

As shown in fig. 1, in this embodiment, the exoskeleton-based intelligent locomotion rehabilitation therapy and training system includes:

the local control center 101 is used for carrying out detection data analysis, monitoring condition analysis, patient body state analysis, rehabilitation plan making, rehabilitation model generation and rehabilitation effect evaluation, and realizing intelligent analysis and decision making and rehabilitation training model customization and optimization; controlling an intelligent detection system, an intelligent exoskeleton system, an intelligent interaction system and a safety system; and interacting with a cloud intelligent rehabilitation control center.

In this embodiment, the local control center has all decision thinking capabilities, can summarize and form a rehabilitee model according to the treatment and training results of the patient, and sends the rehabilitee model to the customized special rehabilitation device through the expansion interface, so that the rehabilitated patient can seamlessly connect and operate the customized special rehabilitation device to recover the life productivity. The customized special rehabilitation equipment can work independently after the regulation and the measurement are passed, professional personnel are not required to accompany, and the treatment and the training can be carried out indoors and outdoors without being limited in a specific rehabilitation room. The local control center can also realize data interaction with the cloud intelligent rehabilitation control center in a wireless mode or a wired mode: uploading the local data to a cloud intelligent rehabilitation control center as required, carrying out anonymous patient data communication, analyzing, optimizing and updating a rehabilitee model; the latest rehabilitee model can be downloaded to the local from the cloud intelligent rehabilitation control center, so that the local model database is perfected.

The intelligent detection system 102 is used for comprehensively detecting and monitoring the patient and the external environment in real time and acquiring the relevant information of the human body and the relevant information of the outside in real time; judging the health state and the fatigue state of the human body according to the relevant information of the human body; and analyzing the external related information, determining barrier injury information, dangerous object approaching information and patient falling or slipping information, and sending the information to the safety system so that the safety system can make decisions and protect the patient.

In the present embodiment, the human-related information includes, but is not limited to: in-vivo information and body surface information, etc.; further, in vivo signals include, but are not limited to: blood pressure, heartbeat, heart rate, oxygen consumption, electroencephalogram and the like; body surface signals include, but are not limited to: facial expressions, skeletal muscle signals, motor joint signals, skeletal signals, and the like. The external related information includes but is not limited to: human motion information and environmental information, etc.; further, the human motion information includes, but is not limited to: the gripping speed, the stretching speed, the ground contact force, the moving speed, the stretching speed, the lifting speed, the gait, the gesture and the like; environmental information includes, but is not limited to: peripheral obstacles, obstacle forms, obstacle movement directions, obstacle movement speeds, ground surface states, contact states, fixation points and the like.

And the intelligent exoskeleton system 103 is used for providing various motions for the patient and helping the patient to finish treatment and training.

In this embodiment, the intelligent exoskeleton system mainly includes: the exoskeleton skeleton is used for providing basic motion support and a motion development entity and assisting a patient to develop motion; the patient is actively drawn in motion under the control of a local control center. The perception monitor is used for detecting the combination degree of the exoskeleton skeleton and a human body, the stimulation signals and the motion state of the relevant moving body of the human body, the contact state of the exoskeleton skeleton and the external environment and the motion speed of the exoskeleton skeleton, and fully expanding the human-like perception capability of the exoskeleton skeleton. The microprocessor is used for providing decision analysis for the exoskeleton skeleton and controlling the exoskeleton skeleton; analyzing the information detected by the perception monitor, and adjusting an optimized training mode and optimizing the execution of a training model according to the analysis result; and carrying out data interaction with a local control center.

The intelligent interactive system 104 is used for friendly guiding the patient to pleasantly and effectively carry out rehabilitation therapy and training, carrying out real-time tracking analysis on various data in the rehabilitation process and putting the patient into an actual combat training scene; and dynamically playing back and repeating the rehabilitation process, and dynamically analyzing the training result to enhance the confidence of the patient.

In this embodiment, the intelligent interactive system mainly includes:

the content module is used for combining the built-in content generation model according to different modes and different stages of treatment and training, dynamically generating different interactive contents and outputting the interactive contents to the display module so as to display the simulated three-dimensional training process to the patient; for example, before the start of treatment and training, three-dimensional dynamic content is created and generated based on information such as different training parts, training patterns, and motion contents, in conjunction with a built-in model generator. Recording a real-time on-site real video in the training process, combining a training part, a training mode and motion contents, adding a comment and evaluation content mark (such as adding contents of motion direction, motion speed, motion angle, coordination and the like) in the dynamic video in real time by adopting a built-in video content generator, and outputting the mark to a display module so as to display a three-dimensional training process with the real-time comment and evaluation mark to a patient, so that the effectiveness of the patient on treatment and training is visible in real time, and the effectiveness of the patient on cognitive motion is accelerated; after the training process is finished, the historical training video is processed, the error movement is marked in the historical training video by combining the training part, the training mode and the movement content, the correct movement demonstration is given, and the movement demonstration is output to the display module so as to show the three-dimensional training process with the error movement and the correct movement demonstration to the patient, and the understanding of the patient on the error movement and the mastering of the correct movement are deepened.

The interaction module is used for friendly interaction with the patient through a plurality of interaction devices; wherein, the interactive form with the patient comprises: audio communication, video communication, visual annotation point focusing, eye movement tracking, blink detection, gesture recognition, handle manipulation, button operation, and touch screen interface communication.

And the display module is used for starting a display function according to the training mode. Wherein, the display function includes: 3D virtual reality demonstration before training, augmented reality real-time state feedback and comment content display in the training process, mixed reality double-disk correction after training, video recording record replay. Apparatus for presentation, comprising: the system comprises a mobile phone, a display and intelligent interaction equipment; intelligent interaction device, comprising: intelligent glasses and intelligent helmet.

The feedback module is used for starting feedback detection according to the training mode and dynamically detecting the reaction and preference information of the patient in interaction; and adjusting the interactive form and the display content form with the patient according to the reaction and the preference information of the patient.

A safety system 105 for analyzing and detecting the physical state, the equipment state and the external environment information of the patient in linkage with other systems; and according to the analysis result, danger avoidance and safety protection are carried out in time, and the safety of the treatment and training process is ensured.

In this embodiment, the security system may be specifically configured to: dynamically analyzing whether the patient is in a dangerous state of drowsiness, unconsciousness and paroxysmal diseases; dynamically analyzing whether the current intelligent exoskeleton system, the intelligent interaction system and the local control center are in a normal working state and whether the motion is controllable; dynamically analyzing whether danger exists around the environment (such as whether ground obstacles exist or not and whether slipping occurs or not); and performing safety decision according to the collected dynamic analysis result. If the current danger can be avoided according to the collected dynamic analysis result, taking danger avoiding measures (such as stopping movement, retreating, lateral movement, lowering the position of the center of gravity, starting balance control of the exoskeleton and the like); and if the current danger is determined to be unavoidable according to the collected dynamic analysis result, starting safety protection measures (such as emergency braking, sending out help-seeking information, a local control center and the like).

The cloud intelligent rehabilitation control center 106 is used for completing research and development of various exoskeleton devices, research and development and modeling of exoskeleton intelligent control algorithms, research and development and modeling of human body signal detection devices and algorithms, research and development of exercise rehabilitation and training models, research and development and modeling of intelligent interactive systems and research and modeling of safety systems; issuing a human body detection and monitoring model, a rehabilitation therapy model, a safety system model, an intelligent interaction model and model information; monitoring the running state of each exercise rehabilitation device; anonymously collecting rehabilitation feedback data so as to further modify each algorithm model; and (3) constructing an adaptive model and an algorithm, getting through the cross-system and cross-platform problems of customized equipment, character cooperation and multi-equipment cooperation, and realizing safe and efficient communication.

And the expansion interface system 107 is used for realizing connection with various external devices.

In this embodiment, the extended interface system may specifically include:

the human body detector interface is used for connecting the brain wave detector, replacing manual, voice and eye movement information input modes, and directly detecting the brain waves of the patient through the brain wave detector to obtain the movement intention of the patient; or the muscle nerve signal detector is connected to replace the mode of indirectly acquiring the motion state of the patient such as body detection analysis, motion detection analysis and the like, and the motion state of the patient is directly output.

The exoskeleton detector interface is used for being connected with a surface layer touch sensor to replace the human body surface layer touch; or, a grip strength detection sensor is connected to sense the mechanical bone gripping degree; or, a contact sensor is connected to detect the contact degree and the contact stress between the lower limb skeleton and the ground surface, and whether the walking exertion force is proper or not is analyzed.

The intelligent skeleton interface is used for connecting the back posture correction exoskeleton equipment and correcting wrong sitting postures; or the device is connected with a load-bearing spine skeleton device and is used for improving the load-bearing capacity of the human body. Such as helping the old and the porter to strengthen the bearing capacity.

And the data and program manual butt joint interface is used for connecting off-line equipment and updating data and programs by local equipment in a network-free area.

And the multi-rehabilitation-equipment cooperative interface is used for connecting cooperative rehabilitation equipment, performing data sharing and model cooperation with the cooperative rehabilitation equipment, realizing cooperative operation and cooperative training of multiple patients and improving the consistency and effectiveness of training. Such as disabled children football team training, etc.

The character cooperation integrated interface is used for connecting Internet of things equipment and assisting a patient to realize character information exchange and control on physical equipment; wherein, the persona information exchange includes: the human way information exchange can guide the disabled with lower limbs to plan the path friendly; the people and the vehicles exchange information, and the upper limb disabled person can be guided to drive the vehicle friendly; the information exchange of the human house can guide the disabled and the mobility-handicapped to operate equipment such as televisions, curtains, refrigerators, washing machines and the like friendly, and the human intelligence is expanded. Therefore, the person cooperation integrated interface enables the patient to obtain more and wider operation capacity and restores the production and living capacity.

The customized equipment data model sharing interface is used for connecting customized rehabilitation equipment to replace human body limb functions, and parameters matched with training and the model are output to the customized rehabilitation equipment from the local control center in a condensing manner, so that the customized rehabilitation equipment can directly work and recover the human body functions; and outputting model parameters (such as specific star pace parameters) of a specific human body for the formulation of the preference of a specific fan crowd; outputting special sports data of the athlete for training a new athlete to realize fast motor skill master; motor skill acquisition for humanoid robots.

The customized special rehabilitation device 108 is used for performing data interaction with a local control center through an expansion connection system port to obtain training process modeling data, so that a patient can be directly adapted to the customized special rehabilitation device to develop production and life after rehabilitation.

In the embodiment, the customized rehabilitation device can work independently after the debugging and the measurement are passed, and can be used for indoor and outdoor treatment and training without the accompanying of professionals. Wherein, the customized rehabilitation device includes but not limited to: customizing rehabilitation equipment, cooperating rehabilitation equipment, Internet of things equipment and the like.

Customizing the rehabilitation device: the device mainly aims at that after rehabilitation treatment and training are completed, part of users need to customize miniaturized rehabilitation equipment to replace the functions of limbs of human bodies. Compared with the exercise rehabilitation equipment, the equipment can be slightly cut down, and the exoskeleton equipment, a plurality of detection and monitoring equipment, a plurality of interaction equipment and the like for recovering specific parts and specific exercise functions are highlighted, and related exercise control algorithms and models are matched.

The cooperative rehabilitation device comprises: the device mainly aims at the functional cooperation of multiple rehabilitators, can exchange information of multiple rehabilitators wearing the exoskeleton, constructs a cooperation algorithm, realizes one hole, and realizes specific motion functions in cooperation, such as team cooperation of disabled football teams, and cooperation of carrying work of disabled working teams.

The Internet of things equipment: the device mainly aims at the defect of body ability of part of rehabilitees, the exoskeleton needs to be worn for a long time to realize the movement ability, and the device can assist the patient to realize the information exchange of people and the control of physical equipment by accessing the Internet of things device. And if people and vehicles share information, more convenient vehicle driving and people and house information sharing can be realized, and convenient on-off, operation and the like of various indoor devices can be realized.

In addition, the intelligent motion rehabilitation therapy and training system based on the exoskeleton further comprises: various hardware devices such as various detection and monitoring sensors, processors, communication devices, storage devices, and driving devices are not described herein in detail in this embodiment.

In conclusion, the invention discloses an intelligent exercise rehabilitation treatment and training system based on an exoskeleton, which can carry out rehabilitation treatment and training facing to actual working and living scenes according to personalized customization and individual differentiation requirements of the existing rehabilitation exercise. The system integrates an intelligent exoskeleton system, an intelligent detection system, an intelligent interaction system, a safety system and the like, can customize rehabilitation therapy and training treatment courses for different patients, provides various exercise capacity therapies and trainings for the patients, can friendly guide the patients to pleasantly and effectively carry out rehabilitation therapy and training, carries out real-time tracking analysis on various data in the rehabilitation process, enables the patients to be put into actual combat training scenes, can also carry out dynamic playback and countercheck on the rehabilitation process, analyzes the training result dynamically in a professional way, enhances the confidence of the patients, ensures the patients to go out of a physical therapy room, and develops actual combat inspection in life production practice. In addition, the invention can also export the modeling data of the training process to the customized special rehabilitation equipment, so that the patient can be directly adapted to the customized special rehabilitation equipment to carry out production and life after rehabilitation.

Based on the above embodiments, the construction and specific implementation of the intelligent exercise rehabilitation and training system based on the exoskeleton will be described below.

In this embodiment, the exoskeleton-based intelligent locomotion rehabilitation therapy and training system can be divided into three blocks: software systems, hardware systems, and algorithmic models. That is, an appropriate software system, hardware system, and algorithm model may be selected for assembly based on clinical motor skill identification.

(1) Hardware system: exoskeleton devices, various detection and monitoring sensors, interaction devices, processors, communication devices, storage devices, drive devices, and the like.

(2) A software system: the system comprises a local control center, an intelligent detection system, an intelligent exoskeleton system, an intelligent interaction system, a safety system and the like.

(3) An algorithm model: a human body function analysis model, a motion rehabilitation model, an exoskeleton control model, an intelligent interactive system algorithm model and the like. The human body function analysis model is preset and adapted to various human body detection and monitoring parameter analysis models according to clinical test feedback, and can measure and calculate various data obtained by the intelligent detection and monitoring subsystem to provide a human body health state model and a motor function damage model. The motion rehabilitation model database is provided with a motion control modeling model for supporting motion organs such as upper limbs, lower limbs, hands, feet and the like, and can provide model description for specific motion modes of related motion organs. The exoskeleton control model is arranged in the exoskeleton device and can execute related movement processes according to the received movement model. The intelligent interactive system algorithm model database is used for drawing a three-dimensional dynamic motion model of moving organs such as upper limbs, lower limbs, hands and feet, and can provide decomposition parameters such as decomposition, motion force, speed, angle, pressure and deformation of each action step.

(4) According to the clinical identification of the specific motor function of the patient, the specific motor function motor skeleton component and the matched software and hardware system and algorithm model library are selected. The device can be assembled in an individualized and differentiated manner according to the conditions of the height, the sex, the injured part, the exercise requirement and the like of a patient, and a set of complete intelligent exercise rehabilitation and training system is constructed.

(5) And performing online debugging on the assembled equipment, downloading a corresponding test program, performing safety self-checking, fitting with the body of a patient, debugging a software and hardware system, and adjusting the comfort level.

(6) The patient develops equipment use study, and after the study is passed, intelligent treatment and training set meal are started to make.

(7) The functions involved in athletic rehabilitation include, but are not limited to, neck motion functions, shoulder motion functions, arm motion functions, hand motion functions, leg motion functions, step motion functions, and the like. The system provides a motor ability rehabilitation treatment and training method, and scientifically and effectively helps patients to recover.

Therefore, the construction of the intelligent motion rehabilitation therapy and training system based on the exoskeleton is completed. Further, the intelligent exercise rehabilitation therapy and training system constructed based on the above realizes the following functions:

firstly, a set of intelligent exercise rehabilitation therapy and training is automatically made.

The intelligent exercise rehabilitation therapy and training system can be used for making therapy and training set meal by combining specific clinical parameters, and also can be used for making therapy and training set meal independently by actually detecting various body functions of a patient. As shown in fig. 16.

(1) Professional mode: based on various parameter indexes of clinical tests, a professional gives a treatment and training set after measurement and calculation, sends the treatment and training set to a cloud center for confirmation, inputs the treatment and training set to equipment, and starts treatment and training.

(2) Autonomous mode: the autonomous mode can be developed for patients with mild symptoms, no clinical data, no professional guidance, multiple use and the like to make rehabilitation packages.

2.1) data detection: after the device is started, the device can detect internal signals of a patient, such as blood pressure, heartbeat, heart rate, oxygen consumption, brain waves and the like, detect body surface signals, including but not limited to facial expressions, muscle signals, muscle relaxation, upper and lower limb stretching degrees, upper and lower limb exertion degrees, finger gripping degrees, lower limb grounding degrees and the like, detect injured parts, injured tissues, lost functions, body stimulation detection, pressure detection and the like. The user can input information such as past cases, genetic medical history and the like through the interactive equipment, and the detection result is further improved.

2.2) model analysis: and (3) combining the detected data with a human body function analysis model in the system, starting an intelligent motor skill damage analysis algorithm by the local control system, and calculating and analyzing to obtain a human body health state model and a motor function damage model.

2.3) preparing a rehabilitation package: and (3) by combining the exercise rehabilitation model, the exoskeleton control model, the human body health state model and the motor function damage model, starting an intelligent exercise rehabilitation analysis algorithm by the local control system, and calculating and analyzing to give an exercise rehabilitation treatment and training set plan.

2.4) confirmation of a rehabilitation package: the exercise rehabilitation treatment and the training set plan are synchronously sent to the cloud control center for confirmation and the local patient for confirmation. The cloud control center can analyze artificial intelligence big data, combines the feasibility of past cases and risk model analysis schemes, intelligently confirms low-risk probability schemes, sends risk schemes to professionals for confirmation, and sends the risk schemes back to local rehabilitation equipment after confirmation or modification to be sent to patients for confirmation. The whole-process automatic operation is completed, so that the patient can realize remote medical treatment, and professionals can confirm the diagnosis at any time and any place in a remote way, thereby greatly releasing the pressure of medical resources.

(3) A self-defining mode: according to the requirements of patients, DIY training model making is carried out on specific movement modes (such as specific movement requirements of athletes, movement shaping requirements, star movement mode requirements, X-shaped leg and O-shaped leg correction of children and the like).

3.1) detecting and analyzing the existing physical state of the patient, and detecting and outputting physical state information of the patient.

And 3.2) carrying out modeling analysis on the appointed DIY motion mode by adopting an intelligent analysis model, and calculating by adopting an intelligent analysis algorithm to obtain the DIY motion model.

And 3.3) combining the physical state information of the patient, the DIY motion model and the human body rehabilitation model database to carry out fusion to construct an output rehabilitation package plan.

And 3.4) carrying out dynamic modeling on the rehabilitation package plan, constructing a demonstration effect and displaying the demonstration effect to the patient for confirmation.

3.5) patient confirmation and feedback are improved.

The modified rehabilitation package plan is sent to a cloud control center to be subjected to artificial intelligence big data analysis, the low risk probability scheme is intelligently confirmed by combining the feasibility of the past case and risk model analysis scheme, the risk scheme is sent to a professional to be confirmed, and the low risk probability scheme or the risk scheme is returned to local rehabilitation equipment and sent to a patient to be confirmed. The whole-process automatic operation is completed, so that the patient can realize remote medical treatment, and professionals can confirm the diagnosis at any time and any place in a remote way, thereby greatly releasing the pressure of medical resources.

Second, the development of the set meal treatment course of the rehabilitation and training of intelligent sports

The intelligent exercise rehabilitation treatment and training system can automatically execute the rehabilitation treatment and training process according to the produced rehabilitation package plan. In the process, the whole process of detecting the state change of each item of the patient, the change of the body state in the treatment process, the one-to-one interaction between the initiative and the patient, the automatic adaptation of the exoskeleton parameters, the treatment comfort improvement, the realization of the happy treatment, the happy training and the happy rehabilitation:

(1) preparing a rehabilitation system before treatment course: before a treatment course, the rehabilitation system carries out self-checking, detects the states of all software and hardware systems, and carries out safety self-checking according to a rehabilitation mode. After each safety self-check is passed, the functions of the intelligent detection system, the intelligent exoskeleton system, the intelligent interaction system, the safety system, the expansion interface system and the like are started in advance to preheat the functions. Wherein, the intellectual detection system: starting to detect various body states of the patient and monitoring various states of the patient. Intelligent exoskeleton system: and loading the corresponding motion function according to the training model. A security system: and dynamically monitoring various safety states of the patient and the outside in real time, starting dangerous state analysis, and loading a safety coping strategy. An expansion interface system: loading various extended functions including new functional hardware, external cooperative functions and strategies and the like, starting a possible external communication mode, testing the effectiveness of the access, and feeding back detection and test results.

(2) Dynamic image generation and demonstration before treatment course: before the treatment course, the intelligent interactive system is combined with the progress of the rehabilitation course and the algorithm model database of the intelligent interactive system, the content generating system of the intelligent interactive system generates a virtual three-dimensional image, the virtual three-dimensional image is output to a display screen, intelligent equipment and the like to be displayed to a patient, the patient can comprehensively know the following treatment and training process, the sufficient visual sense organ stimulation is given to the patient, the brain memory is formed, and the treatment effect is favorably improved. The whole process does not need the accompany of professionals, and the medical resource requirements are released. Through the intelligent equipment of wearing, can carry out real-time interaction, can pause, enlarge, rotate to other observation angles observation etc. to the picture that wherein is unclear, realize the stereoscopic viewing motion process.

The particularity includes, but is not limited to: and dynamically generating a three-dimensional demonstration image according to the rehabilitation model, wherein the three-dimensional demonstration image comprises images, voice and the like. The demonstration image can be generated based on a virtual reality technology, so that the patient can experience the motion process personally. The three-dimensional demonstration image has a dynamic interaction function, and supports interactive decomposition of demonstration content and explanation, including but not limited to language interaction, operation interface interaction, eye movement interaction and the like. The three-dimensional demonstration image can analyze the matching condition of moving parts formed by bones, joints and skeletal muscles, joint linkage, joint mobility, skeletal muscle matching and moving condition, bone matching and moving condition and the like in the moving process. The three-dimensional demonstration image also provides the measurement of each motion degree, the sequence and the schematic of linkage, the motion force, the condition of the contact surface of the limb and the outside and the like, so that the complete motion process can be scientifically and effectively displayed, and the rehabilitation monitoring and tracking analysis are facilitated. The three-dimensional demonstration image synchronously analyzes the matching condition of the intelligent exoskeleton and the human body movement, movement operation and sequence possibly related, attention points and the like. The three-dimensional demonstration image shows possible motion risks and collectable active and passive measures and the like in the rehabilitation training process.

(3) Before a treatment course, intelligent exoskeleton demonstration: before a treatment course, the intelligent exoskeleton demonstrates possible motion linkage according to a rehabilitation mode, and shows related contents such as exoskeleton areas, exoskeleton dynamics and directions, linkage and the like. And exercise auxiliary measures which can be taken by the possible danger in the exercise process are synchronously displayed, so that the understanding of the patient on the exercise exoskeleton that can take exercise, active and passive response measures under the crisis condition and the like are deepened.

(4) In the treatment process: the patient is through studying the motion process, carries out the study of moving, and each equipment record and analysis motion process feed back the training achievement in real time to synchronous monitoring brain wave, muscle signal etc. awaken up in step and drive the patient and carry out autonomic consciousness study, compare in traditional training method, show training process, measurement training error, the guide motor nerve that can be more clear participate in, the learning effect is more showing:

4.1) the local equipment decomposes the specific motion process according to the human motion model.

And 4.2) the intelligent interactive system makes and generates audio and video contents according to the decomposed motion process and displays the audio and video contents to the patient.

4.3) the intelligent interactive device provides the content generated by the production to the patient in an immersive mode.

4.4) the patient learns to execute the decomposed motion process according to the displayed content, and the process is learned and trained.

And 4.5) recording the training process by the local equipment, detecting and analyzing the training effect, and calculating and analyzing to give the evaluation of the training effect.

And 4.6) the intelligent interaction equipment outputs the training feedback evaluation to augmented reality contents according to the received training feedback evaluation, and feeds the augmented reality contents back to the patient in real time.

4.7) the intelligent detection equipment synchronizes signals of brain waves, muscles, joints and the like of the patient, judges the autonomous consciousness of the patient and induces the patient to train the motor nerves of the patient.

4.8) carrying out repeated training for a plurality of times or carrying out decomposition and combination training of a plurality of sports.

(5) Dynamic monitoring and real-time analysis in the course of treatment: after the treatment course is started, the local control center, the intelligent detection and monitoring system, the intelligent exoskeleton system, the intelligent interaction system, the safety system, the expansion interface and the like carry out related work according to a training mode: the intelligent detection system collects various detection and monitoring information related to the human body and the environment of the patient in real time and provides the information for the local control center to analyze. The local control center analyzes various signals in the body of the patient according to the collected human body related data, judges the information such as the body bearing degree of the patient, the body state of the patient and the like to carry out classification, wherein the classification can comprise classification of normal, tension, overload, danger and the like, and dynamically feeds back the information to the patient in real time to carry out communication feedback with the patient. Carrying out normal training for the normal state; audio and video dispersion is carried out for the tension state; the motion amount of the motion model can be properly corrected for the overload state; and starting the corresponding protective measures of the safety system for protection in the dangerous state. The local control center analyzes various signals on the body surface of the patient according to the collected relevant data of the human body, monitors the response condition of the body function under the rehabilitation movement, and analyzes the difference between the movement result and the expectation in real time according to a preset training mode. Combining a motion model built in the system, and analyzing the emotional state of the patient by facial expression; analyzing the contraction condition of skeletal muscle, and determining whether a movement signal is sent and whether the movement muscle works; analyzing the condition of the joint, and determining whether the motion fulcrum works normally; analyzing the condition of the skeleton, confirming whether the movement is in place, keeping the difference from the target, and measuring difference information. And displaying and feeding back the analysis result in the interactive system. The local control center analyzes the motion information according to the collected external related data, and detects the motion quality under the rehabilitation motion, including whether the speed, the force, the angle, the contact degree and the like of the motion are in place or not. The information of speed, force, angle, contact degree and the like of the movement is analyzed based on the record of the sensor in the exoskeleton, real-time display is carried out, and the difference between the movement and a target is analyzed by combining a movement model arranged in the system. And displaying and feeding back the analysis result in the interactive system. And the local control center monitors the information of the current patient movement in the environment according to the acquired environment information. Monitoring conditions in the analysis environment including peripheral obstacles, obstacle distance, direction of motion, speed of motion, surface conditions, contact surface conditions, and the like. The motion direction and the motion speed of the patient are monitored, the relationship between the patient and the obstacle is reasoned and analyzed, and the relationship is fed back to the safety system for safety strategy analysis. And detecting information such as a fixation point, voice and the like of the patient by combining intelligent interaction equipment, conjecturing an interested region of the patient by combining a preset intelligent motion behavior analysis model, estimating and judging a track path, and performing inference analysis to give an optimal path.

(6) Real-time interaction in the course of treatment: in the training process, real-time information such as audio, video, keys and the like of a patient is collected in real time, interactive information is obtained through a built-in artificial intelligence model, and then interactive contents are executed in cooperation with the existing motion state, body state, running track and the like.

6.1) built-in mutual information collection device of training equipment, including not limiting to button, touch-sensitive screen, pronunciation collection equipment, many places video acquisition equipment, intelligent helmet or intelligent glasses equipment etc..

6.2) analyzing and acquiring the voice information of the patient based on a built-in artificial intelligence audio analysis model, converting the voice information into semantic information, and inputting the semantic information into a rehabilitation system. The rehabilitation system combines information such as NLP and big data to obtain semantic content. The rehabilitation system sends voice information, video information, vibration information and the like for confirmation. And executing the related voice input action after the confirmation is passed.

6.3) analyzing the video track based on an artificial intelligence video analysis model, and analyzing and outputting information such as the motion attitude, the motion track and the like by combining the measurement information of the sensor; and analyzing information such as gestures and the like by combining visual content to acquire gesture input information. The recovery system extracts the semantic content of the video. The rehabilitation system sends voice information, video information, vibration information and the like for confirmation. And executing the related voice input action after the confirmation is passed.

And 6.4) analyzing information such as the visual fixation point of the patient based on the intelligent helmet or the intelligent glasses equipment, and acquiring information such as an interested movement area, a movement path, a movement direction and the like. The rehabilitation system extracts the semantic content thereof. The rehabilitation system sends voice information, video information, vibration information and the like for confirmation. And executing the related voice input action after the confirmation is passed.

6.5) extracting semantic content according to information input by a patient through buttons, a touch screen and the like. The rehabilitation system sends voice information, video information, vibration information and the like for confirmation. And executing the related voice input action after the confirmation is passed.

(7) The outer skeleton is adapted in the course of treatment: the exoskeleton mainly embodies three functions in a rehabilitation system, namely a skeleton function, a perception function and an inference function. The three functions are all performed during the course of treatment.

7.1) skeletal function: the exoskeleton system provides basic exoskeletal support for the patient, providing force support and performing functions. After the exoskeleton is subjected to the execution force of the body, the body can be assisted to carry out relevant movement operation, and partial bearing force support of the body is provided. In emergency, a certain active movement capability can be provided, a certain movement and support capability is actively provided for the patient, and the patient is helped to get rid of danger. In the auxiliary demonstration stage, certain movement demonstration operation functions can be provided.

7.2) perception function: in the course of treatment, the exoskeleton is internally provided with a related detection and monitoring sensor for monitoring the body of the patient, including information such as blood pressure, heartbeat and the like which is not limited in the body of the patient; the information comprises muscle information, skeleton state information, joint point information and the like of the body surface; tracking and recording the motion state information of the skeleton, including information such as motion direction, speed, angle, track and the like which are not limited to the skeleton, and completely recording various information in the motion training process; recording the contact surface condition of the skeleton and an external object, including the contact surface tightness degree, the bone and contact surface exertion degree, the contact surface size, the contact process of the skeleton and the contact surface and other information. The perception function expands the capability of bones, so that the skeleton is no longer a single auxiliary device and also has the perception capability.

7.3) reasoning function: besides basic skeleton support, the intelligent skeleton can further improve the intelligent ability after having the perception ability, so that the intelligent skeleton has the reasoning function. The skeleton decision analysis module has an inference function, can control bones to cooperate with a patient to perform related movement, interact with a control center and perform a normal training model, can also adjust an optimized training mode by combining the perception information acquired by the rehabilitation training plan analysis perception module, imitates a real human body training process, optimizes the details of the training process, such as the size of a skeleton contact surface, the sequence of skeleton contact points and the like, improves the effectiveness of the human body training process, and related feedback analysis and auxiliary information can be further fed back and provided for an interaction interface to be displayed. And under the feedback of the safety system, the device has certain motion control capability, assists the human body to keep the motion effectiveness, the motion balance and the like, and helps the patient to avoid danger.

(8) External synergy in the course of treatment: the intelligent rehabilitation system can be externally provided with certain multi-device cooperative rehabilitation training through an external expansion port, and can also interact with devices such as the Internet of things and the like to expand the functions of a human body.

8.1) multi-device cooperative training: after a plurality of patients wear the same exercise rehabilitation equipment, the same rehabilitation training mode is set through the cloud center, so that the patients in the local area can be subjected to cooperative training, and different patients can share the cooperative training in a long distance. The cooperative training comprises the training of movement consistency and movement coordination, and the like. The motion consistency refers to the same standard, and each position cooperates with the patient to execute the same motion, including motion mode, motion strength, motion direction and the like. The running of the cooperative training can lead each patient to cooperate to execute the cascade sports or the combined sports, such as the cooperative passing of the football players and the cooperative training of the sports, thereby improving the tacit between the players. Such as tandem training of front and rear actions of pipeline operation workers and the like, and the coordination among different work types is improved.

8.2) character collaborative interactive training: after a patient wears the sports rehabilitation equipment, the sports rehabilitation equipment can be accessed into a local Internet of things system, fine operation, accurate searching, heavy load operation tasks and the like can be executed through the sports interaction system, more convenient vehicle driving can be realized if people and vehicles share information, the patient with limb sports injury can have better driving capability, and convenient on-off and operation of various indoor equipment can be realized if people and rooms share information.

(9) The image intelligent display and feedback in the course of treatment: in the course of treatment, except the high cooperation of hardware equipment, each item detected information also can be in time fed back fast, demonstrates the course of treatment fast, makes things convenient for the patient to know the course of treatment. During the course of treatment, the intelligent interactive content system can generate an augmented reality three-dimensional image in real time according to the real-time image and the algorithm model database of the intelligent interactive system, and the augmented reality three-dimensional image is output to a display screen, intelligent equipment and the like and displayed to a patient, so that the patient can immediately perceive the treatment process. In the augmented reality video content, the control center analyzes various effectiveness indexes in the rehabilitation training process according to the video content and various detected data in real time, and marks and displays the effectiveness indexes in a picture in real time. The whole process does not need to be accompanied by professionals. Through the intelligent equipment of wearing, can carry out real-time interaction, can pause, enlarge, rotate to other observation angles observation etc. to the picture that wherein is unclear, realize the stereoscopic viewing motion process. Meanwhile, the intelligent interactive system can also monitor and feed back the feedback, hobbies, reactions and the like of the patient to various display information, and the information is sent to the intelligent interactive system to adjust and enhance the display content form and the interactive form of the display: and collecting the image picture of the motion process in real time, and detecting and monitoring various data. And the local control system analyzes various monitoring data in real time. The dynamic three-dimensional image shows a moving picture in real time, the local control system feeds back the comment motion training quality, and the content center of the intelligent interactive system makes augmented reality content in real time and projects the augmented reality content in display equipment. The augmented reality image content comprises the matching condition of motion parts formed by bones, joints and skeletal muscles, joint linkage, joint activity, skeletal muscle matching and motion condition, bone matching and motion condition and the like in the analysis motion process, and motion errors are given in real time. The augmented reality image also synchronously provides information such as human body state information monitoring feedback, surrounding environment information feedback and the like. The feedback, the preference, the reaction and the like of the patient to various display information are monitored and fed back, and the information is sent to the intelligent interactive system to adjust the display content form and the interactive form of the enhanced display.

(10) Repeating the treatment course: the intelligent exercise rehabilitation system records various body, environment, exercise information and the like of the full exercise rehabilitation process in real time, and the information can be used for carrying out repeated analysis after training is finished. The repeated analysis can be carried out by means of a local system or a cloud center system, the effectiveness of the rehabilitation training process is fully analyzed, a motor rehabilitation report and feedback are generated, and a motor rehabilitation plan of the next stage is adjusted. Meanwhile, by means of a mixed reality technology of an intelligent interactive system, the three-dimensional dynamic content generation of the motion process image and the motion correction measures can be carried out, and the motion process image and the motion correction measures are dynamically displayed to a patient, so that the patient can clearly know the motion process errors and the correction measures. The multiple disks collect the images and various monitoring data in the motion process. Local copy or cloud center expert copy analysis can be performed. And the result of the duplication is fed back to the local control center to form an analysis report. And the local control center issues the data to the intelligent interactive system, the intelligent interactive system analyzes the data according to the multi-disk analysis report and the motion process, and the content center of the intelligent interactive system makes the mixed real content in real time and projects the mixed real content in the display equipment.

The content of the mixed reality image is based on the recorded real motion process, the matching condition, joint linkage, joint mobility, skeletal muscle matching and motion condition, bone matching and motion condition and the like of motion parts formed by all bones, joints and skeletal muscles in the motion process are dynamically analyzed in real time, and motion errors and corrective measures are given.

(11) Safety guarantee: the safety guarantee system is used for monitoring the body state and the environment state of a patient and giving the patient safety reminding, danger avoiding and safety protection in real time. The module functions include: the detected information of the body state of the patient, the equipment state analysis, the external environment and the like provides danger avoidance and safety protection in time, and the safety of the treatment and training process is ensured. The analysis of the human body state includes, but is not limited to, dynamically analyzing whether the human body state is in a dangerous state, such as a dangerous state of drowsiness, unconsciousness, sudden illness, and the like. The environmental information analysis comprises the dynamic analysis of whether dangers exist around the environment, such as ground obstacles, water carrying icing, moving object approaching and other states. And the equipment state analysis dynamically analyzes the information of whether the current equipment such as the exoskeleton, the interaction equipment, the control center and the like is in a normal working state, whether the motion is controllable and the like. And the safety system carries out decision analysis according to the collected information to judge whether danger avoiding measures or safety protection measures need to be taken. Analyzing whether the current danger can be avoided or not, if so, taking avoidance measures, such as stopping movement, retreating, lateral movement, lowering the position of the center of gravity, starting balance control by the exoskeleton and the like; and if the situation is not avoidable, starting safety protection. And starting safety protection in an emergency state, such as braking the exoskeleton to brake and move so as to avoid danger, sending help-seeking information outwards by the system, contacting with a control center and the like. In the rehabilitation exercise process, safety reminding information is output in real time in the intelligent interactive display device, and the safety consciousness of the patient is improved.

Three, diversified training

This intelligent movement rehabilitation and training system based on ectoskeleton possesses intelligent analysis patient state, outputs the rehabilitation training plan, and this system is from taking the safety protection function simultaneously for the training occasion is more diversified:

(1) specific rehabilitation room: the special rehabilitation room is specially prepared for rehabilitation patients, critical patients or special patients can be treated in the rehabilitation room, the environment of the rehabilitation room is relatively simple, certain professional instructors are equipped, and special high-difficulty and high-complexity exercise rehabilitation treatment and training can be carried out. The professional can provide training plans, comment on training contents and safety guarantee.

(2) The home environment is as follows: the home environment is relatively open, the external environment is complex, a safety system needs to be started while a specific training mode needs to be started, and the device is suitable for rehabilitation training with small exercise amount.

(3) Outdoor environment: the outdoor environment has more varieties, the training can be carried out in an environment with relatively large space, good terrain and less pedestrian flow or obstacles, the exercise amount is moderate, and the safety system needs to be always on.

Fourth, rehabilitation effect evaluation and rehabilitation model correction

The intelligent movement rehabilitation treatment and training system based on the exoskeleton continuously evaluates the effect effectiveness of a rehabilitation process, including single training evaluation, weekly training evaluation, monthly training evaluation and the like, and automatically analyzes the rehabilitation state of a patient according to training process data. According to the analyzed data result, the method can interact with a cloud center, and the training model is corrected after interactive analysis:

(1) rehabilitation evaluation item: the body state of the patient comprises a skeletal muscle stimulation response state, a joint function state, a skeletal function state and the like, and specific motion measurement items comprise indexes such as motion degrees, motion distances, motion angles, motion speeds, exertion degrees, contact degrees and the like which are not limited to the minimum motion organs, and can be corrected according to a clinical medical model.

(2) And (3) evaluating the rehabilitation effect: the local system records the motion process of each motion through an intelligent skeleton system, an intelligent interaction system and an intelligent detection and monitoring system in a single motion, wherein the motion process comprises the body reaction of a patient body and the motion process assisted by exoskeleton, such as information including but not limited to motion speed, motion angle, motion distance, motion maintenance, contact degree, force application degree and the like, the whole motion process is recorded, and various errors of the single motion process are also recorded, and specific error items comprise information including but not limited to motion speed, motion force, motion activity degree, motion distance and the like. The single movement effect is displayed for the patient in real time through augmented reality, and meanwhile, an error correction measure example is provided in the mixed reality of the copy and is adapted to enter the next training process. The local control center monitors and records each training process data including body state data, training process data, training error analysis data and the like, analyzes each data through collection, adopts a big data analysis technology, gives exercise rehabilitation analysis reports of various dimensions including error rehabilitation curves of a certain amount of exercise decomposed by rehabilitation training exercises not limited to single exercise and the like, and shares the data with patients for analysis through daily reports, weekly reports, monthly reports and the like. After the patient receives the data, the data can be fed back interactively, the local control system can read the rehabilitation data, call the current recorded data and the image, and read and analyze the data.

(3) And (3) correcting the rehabilitation model: and the correction of the training model is embodied in that after the data is analyzed by repeating the training once, the error correction improvement scheme is optimized and fused to enter the next training model. Periodic rehabilitation data summarization based on weekly reports and monthly reports, and after big data analysis, motion decomposition items with poor rehabilitation effect are extracted, so that the training mode is optimized, and the rehabilitation training effect is improved.

Fifthly, rehabilitation data sharing and model upgrading

The intelligent exercise rehabilitation device records and acquires various exercise rehabilitation data and actually measured exercise rehabilitation effect process data of the patient, the data has important clinical guiding significance, the data can be synchronized to the cloud rehabilitation center for big data analysis after inquiring the wish of the patient, and the existing rehabilitation training model is perfected. Meanwhile, the local rehabilitation device can also synchronize the latest rehabilitation training model data of the cloud end, and is used for perfecting the local model database:

(1) and (3) data sharing of the rehabilitation process: the local intelligent exercise rehabilitation device records various body function detection data, training process data, rehabilitation result data and the like of the patient. After the authorization of the patient is obtained, the local rehabilitation equipment can perform desensitization processing on the process data and then synchronize the process data to the cloud rehabilitation control center for cloud big data analysis, and a rehabilitation training model is further improved.

(2) Upgrading a rehabilitation model: the rehabilitation model upgrading optimization comprises local optimization and cloud synchronous upgrading. The local model can adaptively adjust the training process according to the rehabilitation effect in the training process matched with the patient, and the training process is optimized to adapt to the difference of individuals. The cloud rehabilitation center can perform optimization upgrading on the rehabilitation model after analyzing the big data, the model database after optimization upgrading can be downloaded to a local system, and the local control center adapts to the updated model.

Sixth, extended interaction

The local rehabilitation device can be used for carrying out certain multi-device cooperative rehabilitation training externally, and can also interact with devices such as the Internet of things and the like to expand the functions of the human body. The data model after the local rehabilitation equipment is trained and rehabilitated can be exported to the customized rehabilitation equipment, so that the training and the use are consistent.

(1) Multi-device collaborative training: after a plurality of patients wear the same exercise rehabilitation equipment, the same rehabilitation training mode is set through the cloud center, so that the patients in the local area can be subjected to cooperative training, and different patients can share the cooperative training in a long distance. The cooperative training comprises the training of movement consistency and movement coordination, and the like. The motion consistency refers to the same standard, and each position cooperates with the patient to execute the same motion, including motion mode, motion strength, motion direction and the like. The running of the cooperative training can lead each patient to cooperate to execute the cascade sports or the combined sports, such as the cooperative passing of the football players and the cooperative training of the sports, thereby improving the tacit between the players. Such as tandem training of front and rear actions of pipeline operation workers and the like, and the coordination among different work types is improved.

(2) Character collaborative interactive training: after a patient wears the sports rehabilitation equipment, the sports rehabilitation equipment can be accessed into a local Internet of things system, fine operation, accurate searching, heavy load operation tasks and the like can be executed through the sports interaction system, more convenient vehicle driving can be realized if people and vehicles share information, the patient with limb sports injury can have better driving capability, and convenient on-off and operation of various indoor equipment can be realized if people and rooms share information.

(3) Transferring a customized rehabilitation device model: because the rehabilitation training model of the rehabilitation device adopts modeling treatment, the model can output adaptive new devices. If a patient who uses the rehabilitation device for rehabilitation training wants to wear the intelligent exoskeleton device for a long time, model data after rehabilitation training adaptation can be imported into the customized exoskeleton device for adaptation through customized same exoskeleton hardware, so that device operation after rehabilitation training can be transferred, various complex matched devices in the rehabilitation device, such as unnecessary devices like an intelligent interaction device system, can be removed, and light weight transfer is achieved.

Seven, extended interaction

The local rehabilitation device can be used for carrying out certain multi-device cooperative rehabilitation training externally, and can also interact with devices such as the Internet of things and the like to expand the functions of the human body. The data model after the local rehabilitation equipment is trained and rehabilitated can be exported to the customized rehabilitation equipment, so that the training and the use are consistent.

(1) Multi-device collaborative training: after a plurality of patients wear the same exercise rehabilitation equipment, the same rehabilitation training mode is set through the cloud center, so that the patients in the local area can be subjected to cooperative training, and different patients can share the cooperative training in a long distance. The cooperative training comprises the training of movement consistency and movement coordination, and the like. The motion consistency refers to the same standard, and each position cooperates with the patient to execute the same motion, including motion mode, motion strength, motion direction and the like. The running of the cooperative training can lead each patient to cooperate to execute the cascade sports or the combined sports, such as the cooperative passing of the football players and the cooperative training of the sports, thereby improving the tacit between the players. Such as tandem training of front and rear actions of pipeline operation workers and the like, and the coordination among different work types is improved.

(2) Character collaborative interactive training: after a patient wears the sports rehabilitation equipment, the sports rehabilitation equipment can be accessed into a local Internet of things system, fine operation, accurate searching, heavy load operation tasks and the like can be executed through the sports interaction system, more convenient vehicle driving can be realized if people and vehicles share information, the patient with limb sports injury can have better driving capability, and convenient on-off and operation of various indoor equipment can be realized if people and rooms share information.

(3) Transferring a customized rehabilitation device model: because the rehabilitation training model of the rehabilitation device adopts modeling treatment, the model can output adaptive new devices. If a patient who uses the rehabilitation device for rehabilitation training wants to wear the intelligent exoskeleton device for a long time, model data after rehabilitation training adaptation can be imported into the customized exoskeleton device for adaptation through customized same exoskeleton hardware, so that device operation after rehabilitation training can be transferred, various complex matched devices in the rehabilitation device, such as unnecessary devices like an intelligent interaction device system, can be removed, and light weight transfer is achieved.

In this embodiment, the exoskeleton-based intelligent exercise rehabilitation and training system can further realize the following functions based on an intelligent interaction system:

(1) a powerful content generation model and algorithm are built in the content center, and the model can dynamically generate different interactive contents according to different modes and different stages of treatment and training:

virtual reality content: before treatment and training are started, three-dimensional dynamic schematic content is produced and generated according to information of different training parts, training modes, motion contents and the like and by combining with a built-in model generator, and the three-dimensional dynamic schematic content can be output to a display screen and intelligent interaction equipment to be displayed to simulate a three-dimensional training process and displayed to a patient.

Augmented reality content: the method comprises the steps of recording a real-time on-site real video in a training process, combining information such as a training part, a training mode and motion content, adopting a built-in video content generator, adding motion quality assessment result output in real time in a dynamic video, such as adding information such as motion direction, motion speed, motion angle and coordination, outputting a three-dimensional training process with point assessment and assessment content marking in real time in a display screen and intelligent interaction equipment (such as augmented reality glasses and augmented reality helmets) through enhancing a real-time mark in the video, enabling a patient to see effectiveness of treatment and training in real time, and accelerating the effectiveness of cognitive motion of the patient.

Mixed reality content: in the multi-disc analysis after training, a patient can fetch a historical training video, a content center processes the historical training video, comments are made on the video by combining information such as training parts, training modes, motion contents and the like, a motion error scene is marked, a correct motion demonstration is given, and understanding of the patient on wrong motion and mastering of correct motion are deepened.

Displaying various information: the content displayed in real time can also comprise instructional information, environmental information, patient body state information, gaze point and region of interest analysis, motion path planning, safety warning and the like.

(2) The interactive function is realized through a plurality of interactive devices, the interactive devices start specific interactive detection according to the training mode, the specific interactive detection comprises audio communication, video communication, visual annotation point focusing, eye movement tracking, blink detection, gesture recognition, handle control, button operation, touch screen interface communication and the like, and various interactive information is collected through the modes.

(3) The display function starts a specific interactive display function according to a training mode, and comprises the modes of 3D virtual reality demonstration before training, augmented reality real-time state feedback and comment content display in the training process, mixed reality double-disc correction after training, video recording record replay and the like, and the display function can be displayed on a mobile phone end, a display and intelligent interactive equipment through output.

(4) The feedback function may initiate specific feedback detection based on the training mode, dynamically sense patient response, preferences, etc. during interaction, adjust the interaction style, display content style, etc.

In the embodiment, the intelligent exoskeleton system adds a perception function and a logical reasoning function to the traditional exoskeleton system, so that the function of the exoskeleton system is improved greatly, and better motion capability can be provided. The intelligent motion rehabilitation treatment and training system based on the exoskeleton can also realize the following functions based on an intelligent exoskeleton system:

(1) skeletal function: the exoskeleton system provides basic exoskeletal support for the patient, providing force support and performing functions. After the exoskeleton is subjected to the execution force of the body, the body can be assisted to carry out relevant movement operation, and partial bearing force support of the body is provided. In emergency, a certain active movement capability can be provided, a certain movement and support capability is actively provided for the patient, and the patient is helped to get rid of danger. In the auxiliary demonstration stage, certain movement demonstration operation functions can be provided.

(2) The perception function is as follows: in the course of treatment, the exoskeleton is internally provided with a related detection and monitoring sensor for monitoring the body of the patient, including information such as blood pressure, heartbeat and the like which is not limited in the body of the patient; the information comprises muscle information, skeleton state information, joint point information and the like of the body surface; tracking and recording the motion state information of the skeleton, including information such as motion direction, speed, angle, track and the like which are not limited to the skeleton, and completely recording various information in the motion training process; recording the contact surface condition of the skeleton and an external object, including the contact surface tightness degree, the bone and contact surface exertion degree, the contact surface size, the contact process of the skeleton and the contact surface and other information. The perception function expands the capability of bones, so that the skeleton is no longer a single auxiliary device and also has the perception capability.

(3) And (4) reasoning function: besides basic skeleton support, the intelligent skeleton can further improve the intelligent ability after having the perception ability, so that the intelligent skeleton has the reasoning function. The skeleton decision analysis module has an inference function, can control bones to cooperate with a patient to perform related movement, interact with a control center and perform a normal training model, can also adjust an optimized training mode by combining the perception information acquired by the rehabilitation training plan analysis perception module, imitates a real human body training process, optimizes the details of the training process, such as the size of a skeleton contact surface, the sequence of skeleton contact points and the like, improves the effectiveness of the human body training process, and related feedback analysis and auxiliary information can be further fed back and provided for an interaction interface to be displayed. And under the feedback of the safety system, the device has certain motion control capability, assists the human body to keep the motion effectiveness, the motion balance and the like, and helps the patient to avoid danger.

In the embodiment, the safety system is used for monitoring the physical state and the environmental state of the patient and giving the patient safety reminding, danger avoiding and safety protection in real time. The system analyzes various information in real time to make decisions, including human body state analysis, environment state analysis, equipment state analysis, danger avoidance and safety guarantee. The intelligent motion rehabilitation treatment and training system based on the exoskeleton can also realize the following functions based on a safety system:

(1) analyzing the human body state: the detected information of the body state of the patient, the equipment state analysis, the external environment and the like provides danger avoidance and safety protection in time, and the safety of the treatment and training process is ensured. The analysis of the human body state includes, but is not limited to, dynamically analyzing whether the human body state is in a dangerous state, such as a dangerous state of drowsiness, unconsciousness, sudden illness, and the like.

(2) Analyzing the environmental state: and dynamically analyzing whether dangers exist around the environment, such as states of ground obstacles, icing with water, approaching of moving objects and the like.

(3) Analyzing the state of the equipment: and dynamically analyzing information such as whether the current devices such as the exoskeleton, the interaction device and the control center are in a normal working state and whether the motion is controllable.

(4) Safety measures are as follows: and the safety system carries out decision analysis according to the collected information to judge whether danger avoiding measures or safety protection measures need to be taken. Analyzing whether the current danger can be avoided or not, if so, taking avoidance measures, such as stopping movement, retreating, lateral movement, lowering the position of the center of gravity, starting balance control by the exoskeleton and the like; and if the situation is not avoidable, starting safety protection. And starting safety protection in an emergency state, such as braking the exoskeleton to brake and move so as to avoid danger, sending help-seeking information outwards by the system, contacting with a control center and the like. In the rehabilitation exercise process, safety reminding information is output in real time in the intelligent interactive display device, and the safety consciousness of the patient is improved.

On the basis of the above embodiments, the following describes the respective working processes of the intelligent motion rehabilitation therapy and training system based on the exoskeleton.

(1) Constructing a rehabilitation treatment system: the cloud cooperative multifunctional intelligent rehabilitation therapy and training system is constructed, the software flow function is shown in fig. 2, and the architecture is shown in fig. 5:

1.1) hardware system: the corresponding cloud center server, sub-servers of all rehabilitation treatment subsections, rehabilitation equipment terminals and manager terminals need to be purchased. Each server is provided with a cloud data center, each rehabilitation equipment terminal is provided with a rehabilitation algorithm system, and a manager terminal is provided with a management algorithm terminal. The central server is used for uniformly managing each sub-management system and each rehabilitation terminal, each terminal can access the database of the central server to update the model, and can upload authorized anonymous data of local treatment course, so that the method is used for big data analysis and optimization and perfection of each intelligent model.

1.2) software system: the software system comprises various control software, control algorithms and various intelligent model databases which run on the cloud and the local. The cloud control center is managed by a professional organization, and constructs various intelligent models including but not limited to an intelligent human parameter analysis model, a motion organ motion model, an exoskeleton intelligent model, an intelligent interaction model, a safety strategy model, a multi-person multi-computer cooperation model, a character cooperation model, a safety strategy model, a rehabilitation effect evaluation model and the like according to collected and collated clinical data. The data models are completely constructed and downloaded to the local rehabilitation device through authorization. The local rehabilitation equipment analyzes each model, controls and drives local corresponding hardware through a local software control algorithm to perform data detection and acquisition, and drives the hardware to execute specific functions.

1.3) local system devices: the local system is an independent terminal and is also provided with some specific hardware equipment, and can independently execute rehabilitation training and treatment processes.

1.3.1) intelligent exoskeletons: the intelligent exoskeleton is independent hardware equipment, and the hardware equipment, the perception sensor and a corresponding software driving algorithm can be constructed according to a specific exercise rehabilitation type.

1.3.2) sensors: a large number of various functional sensors are arranged in the rehabilitation equipment, including but not limited to measurement of in vivo signals such as blood pressure, heartbeat, heart rate, oxygen consumption, brain waves and the like, detection of body surface signals including but not limited to facial expressions, muscle signals, muscle relaxation, upper and lower limb stretching degree, upper and lower limb exertion degree, finger gripping degree, lower limb grounding degree and the like, detection of damaged parts, measurement of damaged parts, damaged tissues, missing functions, body stimulation detection, pressure detection and the like are carried out. The method also comprises the measurement of motion information such as gripping speed, stretching speed, ground contact force, moving speed, stretching speed, lifting speed, gait, gesture and the like, and the measurement of environment information including but not limited to peripheral obstacles, obstacle shapes, motion directions, motion speeds, surface states, contact states, fixation points and the like.

1.3.3) Intelligent interaction device: the interactive device includes not only interactive input devices such as audio, video, buttons, operation levers and touch screens, but also output devices such as display screens, intelligent glasses and intelligent helmets.

1.3.4) terminal: the system comprises local terminal equipment consisting of a processing unit, a display unit, an operation unit and the like, and also comprises various software algorithms running on the terminal equipment.

1.3.5) software system: the intelligent human body parameter monitoring system comprises a local control center, an intelligent detection and monitoring subsystem, an intelligent exoskeleton subsystem, an intelligent interaction subsystem, a safety subsystem, an expansion interface and the like, and also comprises various intelligent algorithms including but not limited to an intelligent human body parameter analysis model, a moving organ motion model, an exoskeleton intelligent model, an intelligent interaction model, a safety strategy model, a multi-person multi-computer cooperation model, a character cooperation model, a safety strategy model, a rehabilitation effect evaluation model and the like.

(2) Preparation before rehabilitation treatment:

2.1) patient needs and information gathering: according to the registration state of the patient and the requirements of rehabilitation therapy and training, the physical state information of the patient is collected, including but not limited to clinical motor function identification data, the height, sex, injured part, motion requirements and other data of the patient, and the part can be collected and summarized by a professional medical institution. The functions involved in athletic rehabilitation include, but are not limited to, neck motion functions, shoulder motion functions, arm motion functions, hand motion functions, leg motion functions, step motion functions, and the like. The system provides a motor ability rehabilitation treatment and training method, and scientifically and effectively helps patients to recover.

2.2) equipment construction: according to the rehabilitation therapy and training requirements of the patient and the body state data of the patient, the cloud rehabilitation center adopts a rehabilitation training model to evaluate, provides a specific motor function exoskeleton assembly required by rehabilitation therapy and treatment, a matched software and hardware system and an algorithm model library, carries out personalized and differentiated assembly, and constructs a set of complete intelligent motor rehabilitation therapy and training system. And performing online debugging on the assembled equipment, downloading a corresponding test program, performing safety self-checking, fitting with the body of a patient, debugging a software and hardware system, and adjusting the comfort level.

2.3) cloud communication: and after the equipment is constructed, the equipment is communicated with the cloud center in a networking way, corresponding model data, a software control algorithm and the like are downloaded, equipment self-checking and function testing are started, and after the testing is passed, a network access license is issued to authorize the network access work.

(3) Preparing a rehabilitation therapy set:

3.1) initializing the system: and 4, performing functional self-checking on the purchased rehabilitation treatment equipment, and initializing after the self-checking is completed.

3.2) device usage learning: the patient develops equipment use study, and after the study is passed, intelligent treatment and training set meal are started to make.

3.3) a set meal making process: according to the patient rehabilitation treatment demand and information collection registered in the earlier stage, the demand of the patient is basically determined, and then the equipment can be combined with the measured parameters of the body of the patient to make a rehabilitation training set:

3.3.1) professional mode: based on various parameter indexes of clinical tests, a professional gives a treatment and training set after measurement and calculation, sends the treatment and training set to a cloud center for confirmation, inputs the treatment and training set to equipment, and starts treatment and training.

3.3.2) autonomous mode: the autonomous mode can be developed for patients with mild symptoms, no clinical data, no professional guidance, multiple use and the like to make rehabilitation packages.

3.3.2.1) data detection: after the device is started, the device can detect internal signals of a patient, such as blood pressure, heartbeat, heart rate, oxygen consumption, brain waves and the like, detect body surface signals, including but not limited to facial expressions, muscle signals, muscle relaxation, upper and lower limb stretching degrees, upper and lower limb exertion degrees, finger gripping degrees, lower limb grounding degrees and the like, detect injured parts, injured tissues, lost functions, body stimulation detection, pressure detection and the like. The user can input information such as past cases, genetic medical history and the like through the interactive equipment, and the detection result is further improved.

3.3.2.2) model analysis: and (3) combining the detected data with a human body function analysis model in the system, starting an intelligent motor skill damage analysis algorithm by the local control system, and calculating and analyzing to obtain a human body health state model and a motor function damage model.

3.3.2.3) preparing a rehabilitation package: and (3) by combining the exercise rehabilitation model, the exoskeleton control model, the human body health state model and the motor function damage model, starting an intelligent exercise rehabilitation analysis algorithm by the local control system, and calculating and analyzing to give an exercise rehabilitation treatment and training set plan.

3.3.2.4) rehabilitation package confirmation: the exercise rehabilitation treatment and the training set plan are synchronously sent to the cloud control center for confirmation and the local patient for confirmation. The cloud control center can analyze artificial intelligence big data, combines the feasibility of past cases and risk model analysis schemes, intelligently confirms low-risk probability schemes, sends risk schemes to professionals for confirmation, and sends the risk schemes back to local rehabilitation equipment after confirmation or modification to be sent to patients for confirmation. The whole-process automatic operation is completed, so that the patient can realize remote medical treatment, and professionals can confirm the diagnosis at any time and any place in a remote way, thereby greatly releasing the pressure of medical resources.

3.3.3) custom mode: according to the requirements of patients, DIY training model making is carried out on specific movement patterns (such as specific movement requirements of athletes, movement shaping requirements, star movement pattern requirements and the like).

3.3.3.1) detecting and analyzing the existing body state of the patient, and detecting and outputting the body state information of the patient.

3.3.3.2) carrying out modeling analysis on the appointed DIY motion mode by adopting an intelligent analysis model, and calculating by adopting an intelligent analysis algorithm to obtain the DIY motion model.

3.3.3.3) combining the physical state information of the patient, the DIY motion model and the human body rehabilitation model database to carry out fusion to construct an output rehabilitation package plan.

3.3.3.4) dynamically modeling the rehabilitation package plan, constructing demonstration effects, and displaying the demonstration effects to the patient for confirmation.

3.3.3.5) patient confirmation is perfected with feedback modification.

3.3.3.6) sending the modified rehabilitation package plan to a cloud control center for artificial intelligence big data analysis, combining the feasibility of past cases and risk model analysis schemes, intelligently confirming the low risk probability scheme, sending the risk scheme to a professional for confirmation, and sending the confirmed or modified rehabilitation package plan to local rehabilitation equipment for confirmation to a patient. The whole-process automatic operation is completed, so that the patient can realize remote medical treatment, and professionals can confirm the diagnosis at any time and any place in a remote way, thereby greatly releasing the pressure of medical resources.

(4) The rehabilitation process is developed: the system automatically executes the rehabilitation treatment and training process according to the produced rehabilitation package plan. In the process, the change of various states of the patient is detected in the whole process, the body state is changed in the treatment process, the one-to-one interaction with the patient is actively kept, the exoskeleton parameters are automatically adapted, the treatment comfort is improved, and the happy treatment, the happy training and the happy rehabilitation are realized. The whole system flow is shown in fig. 2, and fig. 3 shows the flow in the rehabilitation process.

4.1) pre-treatment-course rehabilitation system preparation: before a treatment course, the rehabilitation system carries out self-checking, detects the states of all software and hardware systems, and carries out safety self-checking according to a rehabilitation mode. After each safety self-check is passed, the functions of the intelligent detection and monitoring system, the intelligent exoskeleton system, the intelligent interaction system, the safety system, the expansion interface and the like are started in advance to preheat the functions.

4.1.1) intelligent detection and monitoring system: starting to detect various body states of the patient and monitoring various states of the patient.

4.1.2) intelligent exoskeleton system: and loading the corresponding motion function according to the training model.

4.1.3) security system: and dynamically monitoring various safety states of the patient and the outside in real time, starting dangerous state analysis, and loading a safety coping strategy.

4.1.4) extended interface: loading various extended functions including new functional hardware, external cooperative functions, strategies and the like, starting a possible external communication mode, testing the effectiveness of a channel, and feeding back a detection and test result;

4.2) generating and demonstrating dynamic images before treatment course: before the treatment course, the intelligent interactive system is combined with the progress of the rehabilitation course and the algorithm model database of the intelligent interactive system, the content generating system of the intelligent interactive system generates a virtual three-dimensional image, the virtual three-dimensional image is output to a display screen, intelligent equipment (intelligent eyes, an intelligent helmet) and the like and displayed to a patient, the patient can comprehensively know the following treatment and training process, the sufficient visual sense organ stimulation is given to the patient, the brain memory is formed, and the treatment effect is favorably improved. The whole process does not need the accompany of professionals, and the medical resource requirements are released. Through the intelligent equipment of wearing, can carry out real-time interaction, can pause, enlarge, rotate to other observation angles observation etc. to the picture that wherein is unclear, realize the stereoscopic viewing motion process. The particularity includes, but is not limited to:

4.2.1) dynamically generating a three-dimensional demonstration image according to the rehabilitation model, wherein the three-dimensional demonstration image comprises images, voice and the like. The demonstration image can be generated based on a virtual reality technology, so that the patient can experience the motion process personally.

4.2.2) the three-dimensional demonstration image has a dynamic interaction function, and supports interactive decomposition of demonstration content and explanation, including but not limited to language interaction, operation interface interaction, eye movement interaction and the like.

4.2.3) the three-dimensional demonstration image can analyze the matching condition of moving parts formed by all bones, joints and skeletal muscles, joint linkage, joint activity, skeletal muscle matching and moving condition, bone matching and moving condition and the like in the moving process.

4.2.4) three-dimensional demonstration images also give measurement of each motion degree, sequential relation and indication of linkage, motion force, contact surface condition of limbs and the outside and the like, so that the complete motion process is scientifically and effectively shown, and rehabilitation monitoring and tracking analysis are facilitated.

4.2.5) synchronously analyzing the matching condition of the intelligent exoskeleton and the human body movement, movement operation and sequence possibly related, attention points and the like by the three-dimensional demonstration image.

4.2.6) the three-dimensional demonstration image shows the possible motion risks and the acquirable active and passive measures and the like in the rehabilitation training process.

4.3) intelligent exoskeleton demonstration before treatment course: before a treatment course, the intelligent exoskeleton demonstrates possible motion linkage according to a rehabilitation mode, and shows related contents such as exoskeleton areas, exoskeleton dynamics and directions, linkage and the like. And exercise auxiliary measures which can be taken by the possible danger in the exercise process are synchronously displayed, so that the understanding of the patient on the exercise exoskeleton that can take exercise, active and passive response measures under the crisis condition and the like are deepened. The immersive effect display shown in fig. 10 and 11 can facilitate the patient to learn in advance during the training process.

4.4) during treatment: the patient is through studying the motion process, carries out the study of moving, and each equipment record and analysis motion process feed back the training achievement in real time to synchronous monitoring brain wave, muscle signal etc. awaken up in step and drive the patient and carry out autonomic consciousness study, compare in traditional training method, show training process, measurement training error, the guide motor nerve that can be more clear participate in, the learning effect is more showing:

4.4.1) the local device decomposes the specific motion process according to the human motion model.

4.4.2) the intelligent interactive system generates audio and video contents according to the decomposed motion process and displays the audio and video contents to the patient.

4.4.3) the smart interactive device provides the production generated content to the patient immersive.

4.4.4) the patient learns to perform a decomposed course of motion based on the presented content, learning and training the course.

4.4.5) the local equipment records the training process, detects and analyzes the training effect, and calculates and analyzes to give the evaluation of the training effect.

4.4.6) the intelligent interactive device outputs the training feedback evaluation to the augmented reality content according to the received training feedback evaluation, and feeds the training feedback evaluation back to the patient in real time.

4.4.7) the intelligent detection equipment synchronizes signals of brain waves, muscles, joints and the like of the patient, judges the autonomic consciousness of the patient and induces the patient to train the motor nerves of the patient.

4.4.8) performing repeated training for a plurality of times or performing decomposition and combination training of a plurality of sports.

4.5) dynamic monitoring and real-time analysis in the course of treatment: after the treatment course is started, the local control center, the intelligent detection and monitoring system, the intelligent exoskeleton system, the intelligent interaction system, the safety system, the expansion interface and the like carry out related work according to a training mode, and the functions of the system are shown in fig. 6:

4.5.1) the intelligent detection and monitoring system collects various pieces of detection and monitoring information related to the human body of the patient and the environment in real time and provides the information for the local control center to analyze.

4.5.2) the local control center analyzes various signals in the body of the patient according to the collected relevant data of the human body, judges the information such as the bearing degree of the body of the patient, the body state of the patient and the like to carry out classification, wherein the classification can comprise classification of normal, tension, overload, danger and the like, and the classification is dynamically fed back to the patient in real time to carry out communication feedback with the patient. Carrying out normal training for the normal state; audio and video dispersion is carried out for the tension state; the motion amount of the motion model can be properly corrected for the overload state; and starting the corresponding protective measures of the safety system for protection in the dangerous state.

4.5.3) the local control center analyzes various signals on the body surface of the patient according to the collected relevant data of the human body, monitors the body function response condition under the rehabilitation exercise, and analyzes the difference between the exercise result and the expectation in real time according to the preset training mode. Combining a motion model built in the system, and analyzing the emotional state of the patient by facial expression; analyzing the contraction condition of skeletal muscle, and determining whether a movement signal is sent and whether the movement muscle works; analyzing the condition of the joint, and determining whether the motion fulcrum works normally; analyzing the condition of the skeleton, confirming whether the movement is in place, keeping the difference from the target, and measuring difference information. And displaying and feeding back the analysis result in the interactive system.

4.5.4) the local control center analyzes the motion information according to the collected external relevant data, and detects the motion quality under rehabilitation motion, including but not limited to the speed, force, angle, contact degree, etc. of the motion. The information of speed, force, angle, contact degree and the like of the movement is analyzed based on the record of the sensor in the exoskeleton, real-time display is carried out, and the difference between the movement and a target is analyzed by combining a movement model arranged in the system. And displaying and feeding back the analysis result in the interactive system.

4.5.5) the local control center monitors the information of the current patient movement in the environment according to the collected environment information. Monitoring conditions in the analysis environment including peripheral obstacles, obstacle distance, direction of motion, speed of motion, surface conditions, contact surface conditions, and the like. The motion direction and the motion speed of the patient are monitored, the relationship between the patient and the obstacle is reasoned and analyzed, and the relationship is fed back to the safety system for safety strategy analysis. And detecting information such as a fixation point, voice and the like of the patient by combining intelligent interaction equipment, conjecturing an interested region of the patient by combining a preset intelligent motion behavior analysis model, estimating and judging a track path, and performing inference analysis to give an optimal path.

4.6) real-time interaction during treatment course: in the training process, real-time information such as audio, video, keys and the like of a patient is collected in real time, interactive information is obtained through a built-in artificial intelligence model, and then interactive contents are executed in cooperation with the existing motion state, body state, running track and the like. This function is shown in fig. 8.

4.6.1) built-in mutual information collection device of training equipment, including not limiting to button, touch-sensitive screen, pronunciation collection equipment, many places video acquisition equipment, intelligent helmet or intelligent glasses equipment etc..

4.6.2) analyzing and acquiring the voice information of the patient based on a built-in artificial intelligence audio analysis model, converting the voice information into semantic information, and inputting the semantic information into a rehabilitation system. The rehabilitation system combines information such as NLP and big data to obtain semantic content. The rehabilitation system sends voice information, video information, vibration information and the like for confirmation. And executing the related voice input action after the confirmation is passed.

4.6.3) analyzing the video track based on the artificial intelligence video analysis model, and analyzing and outputting information such as motion attitude, motion track and the like in combination with the sensor measurement information; and analyzing information such as gestures and the like by combining visual content to acquire gesture input information. The recovery system extracts the semantic content of the video. The rehabilitation system sends voice information, video information, vibration information and the like for confirmation. And executing the related voice input action after the confirmation is passed.

4.6.4) analyzing the visual fixation point of the patient based on the intelligent helmet or the intelligent glasses device, and acquiring the interested information of the movement area, the movement path, the movement direction, and the like. The rehabilitation system extracts the semantic content thereof. The rehabilitation system sends voice information, video information, vibration information and the like for confirmation. And executing the related voice input action after the confirmation is passed.

4.6.5) extracting semantic content according to information input by a patient through buttons, a touch screen and the like. The rehabilitation system sends voice information, video information, vibration information and the like for confirmation. And executing the related voice input action after the confirmation is passed.

4.7) external bone adaptation during the course of treatment: the exoskeleton mainly embodies three functions in a rehabilitation system, namely a skeletal function, a perception function and an inference function, and is shown in fig. 7. The three functions are all performed during the course of treatment.

4.7.1) skeletal function: the exoskeleton system provides basic exoskeletal support for the patient, providing force support and performing functions. After the exoskeleton is subjected to the execution force of the body, the body can be assisted to carry out relevant movement operation, and partial bearing force support of the body is provided. In emergency, a certain active movement capability can be provided, a certain movement and support capability is actively provided for the patient, and the patient is helped to get rid of danger. In the auxiliary demonstration stage, certain movement demonstration operation functions can be provided.

4.7.2) perception function: in the course of treatment, the exoskeleton is internally provided with a related detection and monitoring sensor for monitoring the body of the patient, including information such as blood pressure, heartbeat and the like which is not limited in the body of the patient; the information comprises muscle information, skeleton state information, joint point information and the like of the body surface; tracking and recording the motion state information of the skeleton, including information such as motion direction, speed, angle, track and the like which are not limited to the skeleton, and completely recording various information in the motion training process; recording the contact surface condition of the skeleton and an external object, including the contact surface tightness degree, the bone and contact surface exertion degree, the contact surface size, the contact process of the skeleton and the contact surface and other information. The perception function expands the capability of bones, so that the skeleton is no longer a single auxiliary device and also has the perception capability.

4.7.3) reasoning functions: besides basic skeleton support, the intelligent skeleton can further improve the intelligent ability after having the perception ability, so that the intelligent skeleton has the reasoning function. The skeleton decision analysis module has an inference function, can control bones to cooperate with a patient to perform related movement, interact with a control center and perform a normal training model, can also adjust an optimized training mode by combining the perception information acquired by the rehabilitation training plan analysis perception module, imitates a real human body training process, optimizes the details of the training process, such as the size of a skeleton contact surface, the sequence of skeleton contact points and the like, improves the effectiveness of the human body training process, and related feedback analysis and auxiliary information can be further fed back and provided for an interaction interface to be displayed. And under the feedback of the safety system, the device has certain motion control capability, assists the human body to keep the motion effectiveness, the motion balance and the like, and helps the patient to avoid danger.

4.8) external synergy in the course of treatment: the intelligent rehabilitation system can be externally provided with certain multi-device cooperative rehabilitation training through an external expansion port, and can also interact with devices such as the Internet of things and the like to expand the functions of a human body.

4.8.1) multi-device collaborative training: after a plurality of patients wear the same exercise rehabilitation equipment, the same rehabilitation training mode is set through the cloud center, so that the patients in the local area can be subjected to cooperative training, and different patients can share the cooperative training in a long distance. The cooperative training comprises the training of movement consistency and movement coordination, and the like. The motion consistency refers to the same standard, and each position cooperates with the patient to execute the same motion, including motion mode, motion strength, motion direction and the like. The running of the cooperative training can lead each patient to cooperate to execute the cascade sports or the combined sports, such as the cooperative passing of the football players and the cooperative training of the sports, thereby improving the tacit between the players. Such as tandem training of front and rear actions of pipeline operation workers and the like, and the coordination among different work types is improved. The multi-device cooperation comprises a cloud master-slave control algorithm, and the local devices comprise hardware devices which are not limited to a synchronous model library, a motion cooperation control module and the like and are adapted to be developed cooperatively.

4.8.2) character collaborative interactive training: after a patient wears the sports rehabilitation equipment, the sports rehabilitation equipment can be accessed into a local Internet of things system, fine operation, accurate searching, heavy load operation tasks and the like can be executed through the sports interaction system, more convenient vehicle driving can be realized if people and vehicles share information, the patient with limb sports injury can have better driving capability, and convenient on-off and operation of various indoor equipment can be realized if people and rooms share information. The character cooperation comprises an adaptation control algorithm of a cloud, and the local device comprises hardware devices which are not limited to a synchronous model library, a motion cooperation control module and the like and are adapted and developed cooperatively. The equipment end of the Internet of things can comprise an adaptation module for person cooperation.

4.9) image intelligent display and feedback in the course of treatment: in the course of treatment, except the high cooperation of hardware equipment, each item detected information also can be in time fed back fast, demonstrates the course of treatment fast, makes things convenient for the patient to know the course of treatment. During the course of treatment, the intelligent interactive content system can generate an augmented reality three-dimensional image in real time according to the real-time image and the algorithm model database of the intelligent interactive system, and the augmented reality three-dimensional image is output to a display screen, intelligent equipment (intelligent eyes, an intelligent helmet) and the like and displayed to a patient, so that the patient can immediately perceive the treatment process. In the augmented reality video content, the control center analyzes various effectiveness indexes in the rehabilitation training process according to the video content and various detected data in real time, and marks and displays the effectiveness indexes in a picture in real time. The whole process does not need to be accompanied by professionals. Through the intelligent equipment of wearing, can carry out real-time interaction, can pause, enlarge, rotate to other observation angles observation etc. to the picture that wherein is unclear, realize the stereoscopic viewing motion process. Meanwhile, the intelligent interactive system can also monitor and feed back the feedback, the preference, the reaction and the like of the patient to various display information, and the information is sent to the intelligent interactive system to adjust and enhance the display content form and the interactive form of the display. The intelligent detection and analysis result of one of the movements shown in fig. 12 monitors the difference between the actual effect and the target effect of each movement in real time, and helps the patient to realize clear cognition.

4.9.1) collecting the image picture of the motion process in real time, and detecting and monitoring various data.

4.9.2) the local control system analyzes various monitoring data in real time.

4.9.3) displaying the motion picture in real time by the dynamic three-dimensional image, feeding back the critique motion training quality by the local control system, making the augmented reality content by the content center of the intelligent interactive system in real time, and projecting the augmented reality content in the display equipment.

4.9.4) the augmented reality image content comprises the matching condition of motion parts formed by each bone, joint and skeletal muscle, joint linkage, joint activity, skeletal muscle matching and motion condition, bone matching and motion condition and the like in the analytic motion process, and motion errors are given in real time.

4.9.5) the augmented reality image also synchronously gives information such as human body state information monitoring feedback, surrounding environment information feedback and the like.

4.9.6) monitor and feedback the patient's feedback, preferences, responses, etc. to various display information that is fed to the intelligent interactive system to adjust the presentation form and the interaction form of the augmented display.

4.10) dish replacement after treatment course: the intelligent exercise rehabilitation system records various body, environment, exercise information and the like of the full exercise rehabilitation process in real time, and the information can be used for carrying out repeated analysis after training is finished. The repeated analysis can be carried out by means of a local system or a cloud center system, the effectiveness of the rehabilitation training process is fully analyzed, a motor rehabilitation report and feedback are generated, and a motor rehabilitation plan of the next stage is adjusted. Meanwhile, by means of a mixed reality technology of an intelligent interactive system, the three-dimensional dynamic content generation of the motion process image and the motion correction measures can be carried out, and the motion process image and the motion correction measures are dynamically displayed to a patient, so that the patient can clearly know the motion process errors and the correction measures. As shown in fig. 14:

4.10.1) collecting the image picture and various monitoring data of the motion process by a plurality of discs. Local copy or cloud center expert copy analysis can be performed.

4.10.2) forming an analysis report by the result of the duplication and feeding back the analysis report to the local control center.

4.10.3) the local control center issues to the intelligent interactive system, the intelligent interactive system makes the mixed reality content in real time according to the reply analysis report and the motion process analysis data, the content center of the intelligent interactive system makes the mixed reality content and projects the mixed reality content in the display device.

4.10.4) real mixed reality image content is based on the recorded real motion process, the matching condition, joint linkage, joint activity, skeletal muscle matching and motion condition, bone matching and motion condition and the like of motion parts formed by each bone, joint and skeletal muscle in the motion process are dynamically analyzed in real time, and motion errors and corrective measures are given.

4.11) summary of training process: and (3) demonstrating before training, actually correcting errors in training, and giving a training correction plan after training by a repeating board, so as to form a feedback type learning mode of signaling → learning → correction stimulation → learning → correction. Fig. 14 shows an intelligent analysis movement result of the present invention, which may be a patient movement picture collected in real time, and superimpose the explanation of a movement organ, the difference between a movement target and an actual target, and may add more comment information such as skeletal muscle, bone, joint, etc., or add analysis of the difference between the movement speed, movement direction, movement strength, etc. and the target. The process can be fed back all the time in the training process and the disc duplicating process, and the difference between the training effect and the target can be sensed in real time. Fig. 13 is a display area of the intelligent interactive device according to the present invention, which may include a virtual reality display before training, an augmented reality display during training, and a composite process mixed reality display after training, and information of interest to the patient, training key information, training pictures, body detection information, environment detection information, immersive video content, motion decomposition measurement, and comment result display may be displayed in different display areas by user-defined.

4.12) safety guarantee: the safety guarantee system is used for monitoring the body state and the environment state of a patient and giving the patient safety reminding, danger avoiding and safety protection in real time. This module is shown in fig. 9, and its functions include:

4.12.1) analysis of human body state: the detected information of the body state of the patient, the equipment state analysis, the external environment and the like provides danger avoidance and safety protection in time, and the safety of the treatment and training process is ensured. The analysis of the human body state includes, but is not limited to, dynamically analyzing whether the human body state is in a dangerous state, such as a dangerous state of drowsiness, unconsciousness, sudden illness, and the like.

4.12.2) environmental status analysis: and dynamically analyzing whether dangers exist around the environment, such as states of ground obstacles, icing with water, approaching of moving objects and the like.

4.12.3) device status analysis: and dynamically analyzing information such as whether the current devices such as the exoskeleton, the interaction device and the control center are in a normal working state and whether the motion is controllable.

4.12.4) security measures: and the safety system carries out decision analysis according to the collected information to judge whether danger avoiding measures or safety protection measures need to be taken. Analyzing whether the current danger can be avoided or not, if so, taking avoidance measures, such as stopping movement, retreating, lateral movement, lowering the position of the center of gravity, starting balance control by the exoskeleton and the like; and if the situation is not avoidable, starting safety protection. And starting safety protection in an emergency state, such as braking the exoskeleton to brake and move so as to avoid danger, sending help-seeking information outwards by the system, contacting with a control center and the like. In the rehabilitation exercise process, safety reminding information is output in real time in the intelligent interactive display device, and the safety consciousness of the patient is improved.

(5) Rehabilitation efficacy evaluation and feedback: the effectiveness of the rehabilitation process is continuously evaluated, including single training evaluation, weekly training evaluation, monthly training evaluation and the like, and the rehabilitation state of the patient is automatically analyzed according to the training process data. According to the analyzed data result, the method can interact with a cloud center, and the training model is corrected after interactive analysis:

5.1) rehabilitation assessment item: the body state of the patient comprises a skeletal muscle stimulation response state, a joint function state, a skeletal function state and the like, and specific motion measurement items comprise indexes such as motion degrees, motion distances, motion angles, motion speeds, exertion degrees, contact degrees and the like which are not limited to the minimum motion organs, and can be corrected according to a clinical medical model.

5.2) evaluation of rehabilitation effect: the local system records the motion process of each motion through an intelligent skeleton system, an intelligent interaction system and an intelligent detection and monitoring system in a single motion, wherein the motion process comprises the body reaction of a patient body and the motion process assisted by exoskeleton, such as information including but not limited to motion speed, motion angle, motion distance, motion maintenance, contact degree, force application degree and the like, the whole motion process is recorded, and various errors of the single motion process are also recorded, and specific error items comprise information including but not limited to motion speed, motion force, motion activity degree, motion distance and the like. The single movement effect is displayed for the patient in real time through augmented reality, and meanwhile, an error correction measure example is provided in the mixed reality of the copy and is adapted to enter the next training process. The local control center monitors and records each training process data including body state data, training process data, training error analysis data and the like, analyzes each data through collection, adopts a big data analysis technology, gives exercise rehabilitation analysis reports of various dimensions including error rehabilitation curves of a certain amount of exercise decomposed by rehabilitation training exercises not limited to single exercise and the like, and shares the data with patients for analysis through daily reports, weekly reports, monthly reports and the like. After the patient receives the data, the data can be fed back interactively, the local control system can read the rehabilitation data, call the current recorded data and the image, and read and analyze the data.

5.3) correcting a rehabilitation model: and the correction of the training model is embodied in that after the data is analyzed by repeating the training once, the error correction improvement scheme is optimized and fused to enter the next training model. Periodic rehabilitation data summarization based on weekly reports and monthly reports, and after big data analysis, motion decomposition items with poor rehabilitation effect are extracted, so that the training mode is optimized, and the rehabilitation training effect is improved.

5.4) rehabilitation evaluation result display: fig. 15 shows a statistical analysis of a rehabilitation process of a certain motion organ according to the present invention, which represents a statistical analysis result of a rehabilitation process of a certain motion index of a certain motion organ, the rehabilitation index of an actual test may include various indexes of rehabilitation assessment items as described below, and the corresponding analysis report may be expanded to more analysis report types, including but not limited to various forms such as a bar chart, a pie chart, a line chart, a data list, a bar chart, and a speckle pattern, including but not limited to a form of a joint display chart of a plurality of rehabilitation assessment items, including but not limited to an immersive rehabilitation result display in a virtual reality and mixed reality mode, and dynamically displaying a motion rehabilitation process by combining historical rehabilitation data and images to form a rehabilitation image album.

(6) And (3) expanding interactive training functions: the local rehabilitation device can be used for carrying out certain multi-device cooperative rehabilitation training externally, and can also interact with devices such as the Internet of things and the like to expand the functions of the human body. The data model after the local rehabilitation equipment is trained and rehabilitated can be exported to the customized rehabilitation equipment, so that the training and the use are consistent.

6.1) multi-device cooperative training: after a plurality of patients wear the same exercise rehabilitation equipment, the same rehabilitation training mode is set through the cloud center, so that the patients in the local area can be subjected to cooperative training, and different patients can share the cooperative training in a long distance. The cooperative training comprises the training of movement consistency and movement coordination, and the like. The motion consistency refers to the same standard, and each position cooperates with the patient to execute the same motion, including motion mode, motion strength, motion direction and the like. The running of the cooperative training can lead each patient to cooperate to execute the cascade sports or the combined sports, such as the cooperative passing of the football players and the cooperative training of the sports, thereby improving the tacit between the players. Such as tandem training of front and rear actions of pipeline operation workers and the like, and the coordination among different work types is improved. The multi-device cooperation comprises a cloud master-slave control algorithm, and the local device can comprise hardware devices which are not limited to a synchronization model library, a motion cooperation control module and the like and are adapted to be developed cooperatively.

6.2) character collaborative interactive training: after a patient wears the sports rehabilitation equipment, the sports rehabilitation equipment can be accessed into a local Internet of things system, fine operation, accurate searching, heavy load operation tasks and the like can be executed through the sports interaction system, more convenient vehicle driving can be realized if people and vehicles share information, the patient with limb sports injury can have better driving capability, and convenient on-off and operation of various indoor equipment can be realized if people and rooms share information. The multi-device cooperation comprises an adaptation algorithm of a cloud, the local device can comprise hardware devices which are not limited to a synchronous model library, a motion cooperation control module and the like and are cooperatively developed in an adaptation mode, and the internet of things end can comprise a corresponding adaptation module.

6.3) customizing the rehabilitation equipment model transfer: because the rehabilitation training model of the rehabilitation device adopts modeling treatment, the model can output adaptive new devices. If a patient who uses the rehabilitation device for rehabilitation training wants to wear the intelligent exoskeleton device for a long time, model data after rehabilitation training adaptation can be imported into the customized exoskeleton device for adaptation through customized same exoskeleton hardware, so that device operation after rehabilitation training can be transferred, various complex matched devices in the rehabilitation device, such as unnecessary devices like an intelligent interaction device system, can be removed, and light weight transfer is achieved.

(7) Model construction and improvement: the system constructs various intelligent models for improving the effect of the intelligent exercise rehabilitation equipment, and the models are obtained by carrying out big data analysis and artificial intelligence training in systems such as clinical tests, academic research and industrial research. These models can be trained in motion offline, and the local system obtains key models from motion synchronization, and the relevant key models are as follows:

7.1) human body data analysis model: the health state of the human body is evaluated by collecting blood pressure, heartbeat, heart rate, oxygen consumption, facial expression and the like of the human body, and information such as exercise intensity, fatigue degree and the like is analyzed to construct a human body state model.

7.2) motion organ motion model: the motion models of the motion organs are analyzed through clinical data, including various motion coordination of bones, muscles and joints under various motion modes of the motion organs and information such as the motion speed, strength, direction, distance, motion degree and the like of the whole motion organs are expressed, the motion models of the motion organs are constructed and formed, and quantitative describable models are formed.

7.3) exoskeleton intelligent model: model data of moving organs of a human body are disassembled and corresponding to the decomposition of each motion of the exoskeleton through vectorization and disassembly of each motion of the exoskeleton, so that mapping of the moving models of the moving organs of the human body to the exoskeleton model is realized. And simultaneously, constructing measurement indexes of decomposition sub-motions of each motion, and constructing a sensor for measurement.

7.4) intelligent interaction model: the intelligent interaction model comprises intelligent motion process modeling and intelligent interaction. The intelligent motion process modeling can perform process modeling on the motion model of each human motion organ to construct a 3D content database so as to construct content in virtual reality, augmented reality and mixed reality. And simultaneously constructing the measurement indexes of the decomposed sub-motion items of each motion to realize motion measurement. And performing semantic analysis on the audio and video in the interaction process, and performing training analysis by adopting an artificial intelligence model to obtain the artificial intelligence analysis model.

7.5) Security policy model: the method comprises the steps of carrying out safe modeling on a human body motion process, carrying out modeling analysis on potential motion hazards, wrong motion, unexpected motion and the like, constructing a human body safety strategy model, disassembling related sub-motion processes, and carrying out modeling avoidance. And for the monitored environmental information, a logical reasoning model is constructed, potential obstacles are avoided, and an avoidance path is constructed for approaching danger to avoid.

7.6) a multi-person multi-machine collaborative model: and disassembling the multi-person cooperative motion model, disassembling the motion process, constructing the model of the cooperation between the sub-motions, optimizing and decomposing the sub-motions to each cooperative patient, and realizing the optimal overall and local motion cooperation.

7.7) character cooperation model: and cooperatively analyzing the human body movement and the data interaction model of the Internet of things, constructing a human-object interaction interface and specification, and popularizing to form an industrial standard.

7.8) rehabilitation assessment model: based on the motion model of the human motion organ, the motion process is disassembled, the measurement indexes of the decomposition sub-motion of each motion are constructed, meaning assignment, range analysis and combined function analysis are carried out on each measurement index, and the motion rehabilitation assessment model is formulated.

7.9) self-learning of the model: the local equipment has certain intelligent learning ability, and can adjust and optimize each model according to the actually measured data of a rehabilitee through artificial intelligence learning, so that the model is better matched with the specific characteristics of the patient. Fig. 4 shows a local model self-learning updating process. Based on the standard model and the measured data, the self-learning module updates the model to obtain personalized data, and the personalized data is fused into the standard model after being evaluated locally and by movement to carry out model self-learning.

(8) Data interaction with the model:

8.1) online updating: the local rehabilitation device can interact with the cloud center through the network, so that updating of a local algorithm model, a control algorithm, a driving program and the like is realized, and the latest and optimal software is synchronized.

8.2) self-learning of the model: the above-mentioned intelligent human parameter analysis model, the locomotor apparatus motion model, the exoskeleton intelligent model, the intelligent interaction model, the security policy model, the multi-person multi-machine cooperation model, the character cooperation model, the security policy model, the rehabilitation effect evaluation model, and other models have been loaded into the local device, and the local device has a data self-learning capability, and can adjust the above models according to self-learned data, so that the models are personalized, adapted to different patients, and model intelligence is realized, as shown in fig. 4.

8.3) data sharing: after the measured data collected in the local rehabilitation training and treatment process are sorted and analyzed, anonymization and desensitization can be carried out according to the authorization of a patient and are synchronized to a cloud center, and the existing data models are assisted to be further improved.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Those skilled in the art will appreciate that the invention may be practiced without these specific details.