阅读说明：本技术 康复装置和监控手部运动的方法 (Rehabilitation device and method for monitoring hand movement ) 是由 王进 金盛 李伟 王翔 张宇 于 2019-07-08 设计创作，主要内容包括：一种康复装置,用于监控使用者的手部运动,其中一个或两个前臂支撑在支撑件的前臂支撑区域上,且面朝上的摄像机被安装成具有超过前臂支撑区域的前部向前的视场,以捕获在前臂支撑区域的前方延伸的一只手或两只手的图像。这避免了使用者佩戴传感器手套的需要,而且能实现紧凑的系统,而无需高架摄像机或大型桌式装置。(A rehabilitation device for monitoring hand movements of a user, wherein one or both forearms are supported on a forearm support area of a support, and an upwardly facing camera is mounted with a forward field of view beyond the front of the forearm support area to capture images of one or both hands extending in front of the forearm support area. This avoids the need for the user to wear sensor gloves and enables a compact system without the need for an overhead camera or a large table-type device.)

1. A rehabilitation device for monitoring hand movements of a user, comprising:

a frame (12) having a display mounting bracket (14) for attaching a display (16);

a support (17) mounted to the frame (12), wherein the support comprises a base (18) and a top (20) having a forearm support area (50); and

a camera (32) mounted on the base facing the top such that a field of view (40) of the camera includes an area extending forward of the forearm support area.

2. The device of claim 1, wherein the support further comprises a hand support region (52).

3. The device of claim 2, wherein at least a portion of the hand support region (52) is made of a transparent material.

4. The device of claim 2 or 3, wherein the hand support region (52) is for supporting a wrist and a portion of a palm of the hand, the device further comprising a second hand support region (60) for supporting a remainder of the palm of the hand, wherein the second hand support region (60) is removably mounted.

5. The device of claim 1, wherein the frame (12) includes an upright member (28), wherein:

the support (17) is mounted to the upright member (28) at an adjustable height; and/or

The display mount (14) having an adjustable height along the upright member; and/or

The support (17) is mounted to the upright member (28) at an adjustable elevation angle.

6. The device as claimed in claim 1, wherein the forearm support area (50) comprises two forearm support channels (22, 24) spaced apart and tapering inwardly in a direction towards the front surface (26).

7. The device of claim 1, wherein the base (18) and the top (20) are spaced apart by a distance of 10cm to 30 cm.

8. The device of claim 1, wherein the top (20) is removable from the base.

9. The device of claim 1, wherein the base (18) includes a projection (34) projecting forwardly from a front of the base, and the camera is mounted on the projection.

10. The apparatus of claim 1 wherein the camera (32) comprises a 3D camera.

11. The apparatus of claim 1, wherein the apparatus comprises a display mounted to the display mount.

12. The apparatus of claim 1, wherein the apparatus further comprises a controller adapted to:

generating a display output comprising instructions for a user to perform a particular hand rehabilitation exercise;

analyzing the movement of one or both hands of the user; and

generating an output indicative of a level of success in performing the hand rehabilitation exercise.

13. A method of monitoring hand movements of a user of a rehabilitation system, comprising:

capturing an image of one or both hands of the user when the user's arm rests on a support (17) comprising a base (18) and a top (20), the top having a forearm support area (50), wherein the user's one or both hands extend in front of the forearm support area,

wherein the image is captured using a camera mounted on the base facing the top such that a field of view of the camera includes an area extending in front of the forearm support area and in which the user's hand is located.

14. The method of claim 13, wherein capturing an image comprises capturing a 3D image.

15. A method of rehabilitation comprising:

generating a display output comprising instructions for a user to perform a particular hand rehabilitation exercise;

monitoring hand motion using the method of claim 13;

analyzing the hand motion; and

generating an output indicative of a level of success in performing the hand rehabilitation exercise.

Technical Field

The present invention relates to a hand rehabilitation device, and more particularly, to a hand rehabilitation device for monitoring hand movements of a user.

Background

Exercise therapy is used to rehabilitate patients with impaired motor control; for example, exercise therapy may be appropriate for stroke patients with reduced hand control. Rehabilitation devices are used to facilitate exercise therapy. These devices can instruct, monitor and measure how the patient exercises, provide feedback regarding the quality of the exercise and motivate the patient to follow a training program.

Some rehabilitation devices use video cameras to track the user's hand movements, while other rehabilitation devices use active sensors to detect hand movements. Active sensor rehabilitation devices are generally more expensive than video camera rehabilitation devices. Furthermore, active sensor systems often require the user to wear gloves, which can be uncomfortable due to the injury being treated.

For camera-based systems, a tracking system may be used that includes a video camera for capturing hand motion in the RGB color gamut and a depth sensor for acquiring depth information. The video camera records an image of the patient's hand, processes the image to locate the hand in the image, and segments the hand from the background of the image in order to track the position of the patient's hand. Since the skin color can be easily distinguished from the background of the image, segmentation can be performed based on the color. The patient may wear color markers to improve the accuracy of the detection. Other 3D camera designs are also known.

A problem with camera-based systems is that they take up a lot of space and are not easily portable. For example, it is common to mount the camera on a frame on the table top with a support for the forearm of the user.

Accordingly, there is a need for an improved hand rehabilitation device that is more compact and portable.

Disclosure of Invention

The invention is defined by the claims.

According to an example of one aspect of the present invention, there is provided a rehabilitation device for monitoring hand movements of a user, comprising:

a frame having a display mount for attaching a display;

a support mounted to the frame, wherein the support comprises a base and a top having a forearm support area; and

a camera mounted on the base facing the top such that a field of view of the camera includes an area extending forward of the forearm support area.

By placing one hand (or both hands) suspended at the end of the forearm support area, the device provides a compact way of imaging the user's hand. The hand extends to an area in front of the forearm support area and thus into the field of view of the camera. The device provides imaging of one or both hands from below. It avoids the need for a user to wear sensor gloves and enables a compact system without the need for an overhead camera or a large table-type device.

The camera is in a fixed position relative to one or both hands of the user and is relatively close. As a result, the camera does not require a large field of view, and its field of view may extend only slightly beyond the volume occupied by the user's hands.

The support may also include a hand support region. This may be used to support the wrist and a portion of the palm near the wrist. This may provide support for users who do not have sufficient strength to support their hands when only forearm support is provided.

At least a portion of the hand support area is preferably made of a transparent material. This makes it possible to take an image through the support.

As described above, the hand support region may be used to support a portion of the wrist and palm of the hand. The device may further comprise a second hand support region for supporting the remainder of the palm of the hand, wherein the second hand support region is removably mounted.

This means that the device can be adapted to the needs of different users (having different requirements for the support of their hand or hands). Without the second hand support area, there is more freedom to perform the exercise movement since there is more vertical space to perform different types of movements. The second hand support region may also fully support the hand by providing support for the fingers.

The frame may comprise an upright member, wherein the support is mounted to the upright member at an adjustable height.

This enables the user to position the support in the most comfortable way. The camera is attached to the support, so this adjustment does not require any recalibration of the camera. Of course, the user may additionally or alternatively adjust the height of the chair on which they are sitting.

The support may be mounted to the upright member at an adjustable elevation angle.

This angle can be used to set up different types of rehabilitation exercises and difficulties. Also, because the camera moves with the support, this does not require recalibration of the camera.

The frame may include an upright member, wherein the display mount has an adjustable height along the upright member. Thus, the display may have an adjustable height for optimal comfort for the user.

The frame may comprise a wheeled cart.

Thus, the device is a portable unit that can be rolled to any position. The user can carry out the rehabilitation operation only by sitting in front of the device with a chair.

The forearm support region may include two forearm support channels spaced apart in a direction toward the anterior surface and tapering inwardly.

This provides a comfortable resting position for the user's arms and hands.

The base and the top are spaced apart by a distance of, for example, 10cm to 30 cm. This spacing is sufficient to allow the camera to have a field of view formed by the volume occupied by the hands, and enables a compact overall device.

The top portion is, for example, removable from the base. The top can be removed for cleaning and there can be different tops to suit people with different arm sizes or even different arm angle positions (which is most comfortable), or different arm positions for different exercises.

The base may include a protrusion protruding forward from a front of the base, and the camera is mounted on the protrusion. Thus, the camera is mounted in front of the forearm support area, facing upwards into the volume in which the hanging (supported or unsupported by the hand support area) hand is located. This provides a compact arrangement.

Alternatively, the base may be larger and the camera mounted in a central region of the base.

The camera may comprise a 3D camera. Suitable depth sensing cameras are available on the market, for example Leap Motion (trade mark) cameras.

The apparatus may include a display mounted on a display mount. The device then comprises a display. Thus, the device includes all the units needed to perform hand rehabilitation, except for a chair on which the user can sit.

The apparatus preferably further comprises a controller adapted to:

generating a display output comprising instructions for a user to perform a particular hand rehabilitation exercise;

analyzing the movement of one or both hands of the user; and

an output is generated indicating a level of success in performing the hand rehabilitation exercise.

By evaluating the performance of the user in performing rehabilitation exercises, the user's motivation may be increased.

The invention also provides a method of monitoring hand movements of a user of a rehabilitation system, comprising:

capturing an image of one or both hands of a user when the user's arm rests on a support comprising a base and a top, the top having a forearm support area, wherein the one or both hands of the user extend in front of the forearm support area,

wherein the image is captured using a top-facing camera mounted on the base such that the field of view of the camera includes an area extending in front of the forearm support area and in which the user's hand is located.

Capturing the image may include capturing a 3D image.

The invention also provides a rehabilitation method, which comprises the following steps:

generating a display output comprising instructions for a user to perform a particular hand rehabilitation exercise;

monitoring hand movements using the above method;

analyzing hand movements; and

an output is generated indicating a level of success in performing the hand rehabilitation exercise.

These and other aspects of the invention are apparent from and will be elucidated with reference to one or more embodiments described hereinafter.

Drawings

For a better understanding of the present invention, and to show more clearly how it may be carried into effect, reference will now be made, by way of example only, to the accompanying drawings, in which:

fig. 1 shows a rehabilitation device according to an example;

FIG. 2 shows the orientation of a user when using the device of FIG. 1;

FIG. 3 shows a first alternative design of a support for use in the system of FIG. 1; and

fig. 4 shows a second alternative design of a support for use in the system of fig. 1.

Detailed Description

The present invention will be described with reference to the accompanying drawings.

It should be understood that the detailed description and specific examples, while indicating exemplary embodiments of the devices, systems, and methods, are intended for purposes of illustration only and are not intended to limit the scope of the invention. These and other features, aspects, and advantages of the apparatus, systems, and methods of the present invention will become better understood with regard to the following description, appended claims, and accompanying drawings. It should be understood that the figures are merely schematic and are not drawn to scale. It should also be understood that the same reference numerals are used throughout the figures to indicate the same or similar parts.

The invention provides a rehabilitation device for monitoring hand movements of a user, wherein one or both forearms are supported on a forearm support area of a support, and an upward facing camera is mounted with a field of view forward beyond the front of the forearm support to capture images of one or both hands. One or both hands extend forward of the forearm support area. This avoids the need for the user to wear sensor gloves and enables a compact system without the need for an overhead camera or a large table-type device.

Fig. 1 shows a rehabilitation device 10 for monitoring the hand movements of a user. It includes a frame 12, the frame 12 having a display mount 14 for attaching a display 16. The display 16 is positioned in front of and above a support 17 that is also mounted to the frame 12. The support 17 comprises a base 18 and a top 20. The support is mounted on a bracket.

Fig. 1 shows a first possible design of the support 17. In this design, the top 20 of the support member includes two forearm support channels 22, 24 that terminate at a front surface 26 of the top.

The two forearm support channels 22, 24 are spaced apart in a direction toward the front surface 26 and taper inwardly. This provides a comfortable resting position for the user's arms and hands.

The base and the top are spaced apart by a distance of, for example, 10cm to 30 cm. This spacing is sufficient to allow the camera to have a field of view formed by the volume occupied by the hands, and to enable a compact overall device.

The frame 12 has an upright member 28 and the support 17 is mounted to the upright member at an adjustable height (i.e. the bracket may have an adjustable height). Similarly, the display 16 may also optionally have an adjustable height on the frame 12.

The support 17 may be mounted to the upright member 28 at an adjustable elevation angle (i.e., the bracket may have an adjustable angle). This angle can be used to set up different types of rehabilitation exercises and difficulties.

In the example shown, the frame 12 is a wheeled cart having four feet 30 with rollers (not shown) on the underside of the feet. Thus, the device is a portable unit that can be rolled to any position. The user can carry out the rehabilitation operation only by sitting the chair in front of the device.

In the example of fig. 1, the camera 32 is mounted on a projection 34 that is part of the base 18. Camera 32 faces the top so that the field of view 40 of the camera includes an area extending forward beyond front surface 26. This is where one or both hands of the user are located when using the device.

A cover of transparent material may be provided over the camera, for example to prevent ingress of water. The transparent portion may cover only the camera and the material may be opaque for other portions.

By placing the hand suspended from the end of the support 17, the device provides a compact way for imaging the hand of the user. The hand extends into the field of view 40 of the camera.

The camera is in a fixed position relative to the user's hand and is relatively close. As a result, the camera does not require a large field of view 40, and its field of view may extend only slightly beyond the volume occupied by the user's hands.

Preferably, an image of the entire hand is captured by a camera to enable gesture recognition.

The camera is attached to the support such that adjustment of the forearm support does not require any recalibration of the camera.

The apparatus includes a controller 42, the controller 42 for analyzing the captured image and displaying information related to rehabilitation. For example, the controller generates a display output that includes instructions for the user to perform a particular hand rehabilitation exercise. The movement of one or both hands of the user is then analyzed. An output is then provided that indicates a level of success in performing the hand rehabilitation exercise.

It is known to adjust the exercise according to the user's performance. The exercises may relate to game situations to make the experience more entertaining. The invention is not relevant for the rehabilitation procedure itself and therefore no further details will be provided.

Figure 2 shows the position of the user when using the device. As shown, the user's hand 44 overlaps, i.e., protrudes beyond, the end face 26 of the support member 17. Fig. 2 also shows the camera 32 more clearly, and the projection 34 projects forwardly from the front of the base 18.

The camera may comprise a 3D camera. Suitable depth sensing cameras are available on the market, for example Leap Motion (trade mark) cameras. The 3D camera uses an infrared LED array and has a filtered camera lens. Image processing enables the camera to segment the hand from the background image and recognize gestures.

Fig. 1 and 2 show a first example of a support member 17 for supporting two forearms, and wherein the entire support member 17 may be considered a forearm support area.

Fig. 3 shows a second example for one hand only. Typically, the patient is paralyzed on one side of the body, such that only one hand is required to perform the exercise. Of course, the patient may simply use one channel of the support shown in fig. 1, but a one-handed support is also possible, as shown in fig. 3.

Furthermore, in this example, the support extends further forward so that there is a forearm support area 50 and a hand support area 52. The hand support area 52 comprises a rigid and transparent material such that it provides support for the hand and also enables images to be captured through the hand support area 52. The hand support region 52 supports the wrist portion 54 and the palm portion 56 on the side close to the wrist portion.

As described above, the top 20 (and the hand support area that is part of the top) is elevated a certain height above the base 18. The camera 32 is likewise facing upwards, for example towards the centre of the palm 56.

The entire hand, including a portion of the wrist, is within the field of view of the camera for accurate gesture recognition. The support of the lower portion of the palm and a portion of the wrist enables hand rehabilitation with weak muscular strength.

The camera includes an illumination source, such as an infrared LED, for imaging functions that projects illumination light upwardly, as indicated by line 35. The hand support area does not extend so far forward that it is directly above the infrared LED of the camera. In this way, the hand support region 52 is prevented from reflecting illumination light directly to the camera and thus affecting gesture recognition.

In the example shown, the hand support area has a recess 58 directly above the camera.

The hand support area 52 may be removable such that the support is provided only as the forearm support area 50.

Fig. 4 shows a variant in which a second hand support region 60 is provided. This is an accessory which may also be mounted on the base 18 at the same height as the first hand support region 52. It supports the rest of the palm and the fingers. Thus, second hand support region 60, and optionally also the first hand support region, is removably mounted.

To avoid direct reflection as described above, an opening 62 is provided above the camera's illumination LEDs. Thus, areas that would result in unwanted direct reflection are left empty. This combined full support solution is suitable for weak patients who need full support of the hands for hand rehabilitation. Full support may affect the ability to perform certain exercises because the second hand support area may impede certain finger movements, however, for a weakened patient, full support may be used to perform other unaffected exercises.

The top 20 is removable from the base 18, for example. The top can be removed for cleaning and different tops can also be present to suit people with different arm sizes or even different arm angle positions (which is the most comfortable), or different arm and hand positions for different exercises.

Variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored/distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems. Any reference signs in the claims shall not be construed as limiting the scope.