秦超龙,宋爱国,吴常铖,刘玉庆,姜国华.基于Unity3D与Kinect的康复训练机器人情景交互系统[J].仪器仪表学报,2017,38(3):530-536
基于Unity3D与Kinect的康复训练机器人情景交互系统
Scenario interaction system of rehabilitation training robot based on Unity3D and Kinect
  
DOI:
中文关键词:  情景交互  康复训练机器人  Unity3D  Kinect  同步控制
英文关键词:scenario interaction  rehabilitation training robot  Unity3D  Kinect  synchronization control
基金项目:江苏省科技计划项目(BE2014132)、国防基础科研计划项目(B1720132001)资助
作者单位
秦超龙 东南大学仪器科学与工程学院南京210096 
宋爱国 东南大学仪器科学与工程学院南京210096 
吴常铖 东南大学仪器科学与工程学院南京210096 
刘玉庆 中国航天员科研训练中心人因工程国家重点实验室北京100094 
姜国华 中国航天员科研训练中心人因工程国家重点实验室北京100094 
AuthorInstitution
Qin Chaolong School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 
Song Aiguo School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 
Wu Changcheng School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 
Liu Yuqing National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China 
Jiang Guohua National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China 
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中文摘要:
      近年来,康复机器人技术的研究已成为康复医学工程与机器人领域跨学科的研究热点。为提高康复训练机器人的交互能力,将虚拟现实技术、机器人技术相结合,研究基于虚拟场景交互的下肢康复训练机器人系统,使用Kinect传感器采集人体的骨骼信息,并运用Unity3D游戏引擎和3D Studio Max软件开发了用于情景交互的虚拟场景,设计了患者与虚拟人物步态同步控制算法,实现了康复训练过程中的同步交互。实验结果表明,同步步态控制算法有效,人机交互良好,可帮助并激励中风患者实现主动的康复训练。
英文摘要:
      Recent years the study on rehabilitation robotics has become the interdisciplinary research hot spot in medical rehabilitation engineering and robotics fields. In this paper, to improve the interaction capability of rehabilitation training robot, the virtual reality technology and robotics technology are combined together, and the lower limb rehabilitation training robot system based on virtual scenario interaction is studied. The Kinect sensor was used to acquire the human skeleton information, Unity3D game engine and 3D Studio Max software were used to develop the virtual environment for scenario interaction. The gait synchronization control algorithm for the patient and virtual character was designed, and the synchronous interaction in the rehabilitation training process was realized. The experiment results indicate that the gait synchronization control algorithm is effective, human computer interaction is friendly. The proposed gait synchronization control algorithm could help and motivate the stroke patients realize active rehabilitation training.
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