Research On Kinematics Modeling And Assessment Of Unaffected Side Compensation In Upper Limb Rehabilitation Training For Stroke Patients

In the rehabilitation process of stroke patients,there will be obvious functional compensation in their unaffected side to compensate for the decline and loss of function on the affected side.Many studies have shown that the compensation of unaffected side can greatly affect the rehabilitation of stroke patients.Therefore,it is important to evaluate compensation correctly and suppress compensation.At present,most of the methods and tools for compensation assessment rely on expert knowledge,which have strong subjectivity,poor real-time performance and low efficiency.Based on behavioral recognition technology,this paper constructed a method for assessing compensation in rehabilitation training of stroke patients,so as to realize intelligent real-time assessment of compensation and avoid strong dependence on expert knowledge in the assessment process.Firstly,the human skeleton model was obtained based on uncalibrated binocular vision sensor and OpenPose human skeleton model library to collect human motion data.And the obtained motion data were then pre-processed by calibration,conversion,fusion and filtering,which provided basic data for subsequent stroke patients' motion and posture modeling.Secondly,based on the basic principles of upper limb rehabilitation training,the compensation model of stroke patients in upper limb rehabilitation training was analyzed,the mapping model of upper limb training project-movement mode-compensatory healthy body was constructed,and the construction method of upper limb human body model and kinematics model which can represent the compensation mechanism was put forward.Then,the compensation assessment model of stroke patients in upper limb rehabilitation training was constructed.Based on the definition of compensation,a conceptual model of compensation of unaffected side was proposed,the compensation evaluation index system was constructed,and the fitness compensation assessment model with kinematic parameters as its main characteristic value was established.Finally,a compensation assessment prototype system was built based on Visual Studio 2010 and Qt platform.And the system architecture,functional modules,business processes and database design were then explained.Furthermore,an example of shoulder-elbow compound reaching motion of stroke patients was given to verify the effectiveness of the compensation assessment method proposed in this thesis.