CN106446486B - Limb movement function evaluation method and implementation system thereof - Google Patents
Limb movement function evaluation method and implementation system thereof Download PDFInfo
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Abstract
The invention provides a limb movement function evaluation method and an implementation system thereof. The implementation system comprises a limb fixing module, a limb guiding module, a driving module, a transmission mechanism module, an impedance detection module and a motion function analysis module. The limb immobilization module is a first endpoint that immobilizes a limb of a user. The driving module drives the limb guiding module through the transmission mechanism module to guide the second endpoint of the user limb so as to enable the second endpoint to move relative to the first endpoint. The impedance detection module is connected with the driving module to measure the mechanical impedance presented by the driving point of the limb in passive operation. And finally, the motion function analysis module forms a limb motion function curve by using the measured mechanical impedance corresponding to the motion path of the limb of the user. Therefore, a sensor does not need to be additionally arranged on the limb, and the defect caused by subjective interpretation of the rehabilitation personnel in the prior art can be solved, so that more accurate rehabilitation evaluation basis is provided for the medical personnel.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a limb movement function evaluation method and an implementation system thereof.
Background
When the limbs and the nervous system of a person are damaged due to an accident or disease, the motor function is reduced or normal activities are not performed. Currently, the assessment of such injuries is often performed in a simple, but not objective and inaccurate manner using the Ashworth Scale (Ashworth Scale).
At present, the rehabilitation course of the injury is mostly achieved by driving the limb movement of the patient by a physical therapist in a manual traction mode. However, this requires a great deal of professional labor and medical costs to operate. This type of rehabilitation places a significant burden on both the patient and the health care resources.
The known limb rehabilitation devices can also be operated by the patient and perform rehabilitation by pulling the limbs, but each device provides a single movement route and movement mode, and the rehabilitation of the rehabilitation patient needs to be performed by multiple devices. Furthermore, such devices fail to objectively assess the change in limb function in real time (real-time) to adjust the rehabilitation training intensity and the limb movement path according to the patient's limb rehabilitation status. This drawback makes rehabilitation inefficient and often requires the intervention of rehabilitation personnel.
Literature examination shows that several research units in medical technology in Europe and America have tried to measure the motion function of limbs by installing traditional sensors such as torsion meter, speed gauge, etc. on the limbs to be rehabilitated in recent years. However, this method is difficult to be fixed on the limb due to the loading effect of the sensor and the installation thereof, resulting in excessive measurement error and difficulty in use. Furthermore, the published literature shows that the above studies do not properly use the mechanical impedance concept, resulting in more errors in the measured data. All this leads to the fact that no suitable apparatus has been available for clinical use so far.
In summary, there is a need in the art to provide a rehabilitation device that can accurately quantify the physical exercise function of a patient and provide a plurality of rehabilitation forms and strengths without relying on devices mounted on the limbs, and can be adjusted according to the latest rehabilitation results of the patient's limbs.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a system and a method thereof for guiding the limbs of a patient to repeatedly move in different forms and simultaneously measuring and analyzing the rehabilitation status of the limbs. In order to achieve the purpose, the invention adopts the following technical scheme:
a limb movement function evaluation system comprises a limb fixing module, a limb guiding module, a driving module, a transmission mechanism module, an impedance detection module and a movement function analysis module. The limb fixing module is used for fixing a first end point of a limb of a user; the limb guide module is used for guiding a second end point of the limb of the user, and a distance is reserved between the second end point and the first end point; the drive module drives the limb guide module via the transmission mechanism module to operate the second endpoint relative to the first endpoint; the impedance detection module is connected with the driving module to measure the mechanical impedance presented by the limb of the user during passive operation; the motion function analysis module is connected with the impedance detection module and provides limb motion function curve information according to the motion path of the limb of the user corresponding to the measured mechanical impedance.
A limb movement function assessment method is applied to a limb movement function assessment system and comprises the following steps: firstly, fixing a first end point of a user limb; then, guiding a second endpoint of the user's limb to move relative to the first endpoint; then, measuring the mechanical impedance of the driving point when the user limb moves; and finally, providing a limb movement function curve according to the measured mechanical impedance corresponding to the movement path of the limb of the user.
A computer device for analyzing limb movement functions comprises a communication module and a processing module. The communication module is connected with at least one limb movement function evaluation system in a wired or wireless communication manner; the processing module is connected with the communication module and accesses a plurality of limb movement function curves from at least one limb movement function evaluation system to perform statistical analysis so as to provide rehabilitation judgment information, and the rehabilitation judgment information is used for judging the rehabilitation degree represented by the limb movement function curves. A method for analyzing the degree of rehabilitation of a limb motor function in a computer device, said computer device being communicatively connected to at least one of said limb motor function assessment systems, said method comprising the steps of: firstly, storing and taking limb movement function curves of a plurality of pens; and then, counting the limb movement function curve and providing rehabilitation judgment information. A computer program product for analyzing the degree of rehabilitation of motor functions of a limb can complete the steps of the method for analyzing the degree of rehabilitation of motor functions of the limb when the computer program product is loaded and executed by a computer device.
In summary, the system and the method for evaluating the limb movement function provided by the present invention do not need to install a sensor on the limb, can accurately quantify the limb rehabilitation status of the user by analyzing the mechanical impedance of the limb reaction of the user, and provide the quantified limb movement function curve to the user or the medical care end for interpretation or analysis of the rehabilitation status, thereby solving the defects caused by subjective interpretation of rehabilitation personnel in the prior art.
Drawings
Fig. 1 is a system diagram of a limb rehabilitation evaluation system according to the present invention.
Fig. 2 is a schematic view illustrating the adjustment of the operation position of the limb rehabilitation evaluation device according to the present invention.
Fig. 3 is an equivalent model diagram of the limb rehabilitation evaluation system of the present invention.
FIGS. 4.1 to 4.3 are schematic views of the measurement test of the present invention.
Fig. 5 is a perspective view of a limb guidance module in embodiment 1 of the invention.
Description of the reference numerals
10 limbs motion function evaluation device
101 limb drive subsystem
1011 limb guide module
1012 transmission mechanism module
1013 drive module
1014 impedance detection module
102 support part
103 adjustable handle
104 base
11 analysis device
111 motion function analysis module
112 display module
12 information communication module
13 bearing device
131 draw tape
2 users
21 protective support
h1 grip
h2 jack
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Please refer to fig. 1, which is a system for evaluating the movement function of limbs according to the present invention. The limb movement function evaluation system comprises a limb movement function evaluation device 10, an analysis device 11, and a carrying device 13 for carrying the user 2. The carrying device 13 is provided with a limb fixation module for fixing a first end of a limb of the user 2. To explain further, the first end of the limb of the user 2 is provided with a support 21, and the limb fixing module is a pull belt 131 connecting the carrying device 13 and the support 21.
The limb motor function assessment apparatus 10 comprises a limb drive subsystem 101, a support 102, an adjustment handle 103, and a base 104. The adjustment handle 103 and the base 104 are respectively disposed at two ends of the supporting portion 102, the limb driving subsystem 101 is movably disposed on the supporting portion 102, and the carrying device 13 and the supporting portion 102 can share the base 104. Referring to fig. 2, the user 2 can adjust the height of the limb driving subsystem 101 up and down by adjusting the handle 103, and the limb driving subsystem 101 can also adjust its operation angle relative to the supporting portion 102 (up and down by 0-90 degrees based on the horizontal plane, or rotation adjustment along the periphery of the supporting portion 102).
The limb driving subsystem 101 includes a limb guiding module 1011, a transmission mechanism module 1012, a driving module 1013, and an impedance detecting module 1014. The driving module 1013 drives the limb guiding module 1011 to operate via the transmission mechanism module 1012, and the limb guiding module 1011 is used for guiding the second end point of the limb of the user 2 to move in a space. The first end point and the second end point of the user 2 are spaced apart from each other. The driving module 1013 is a variable speed motor, such as a step variable speed or a stepless variable speed motor. The impedance detecting module 1014 is connected to the driving module 1013, and converts the electrical signal of the driving module 1013 into the mechanical impedance of the limb reaction.
If the user's limb is a hand, the first end point can be a shoulder and the second end point can be a palm; if the user's limb is a leg, the first end point can be a hip or a waist, and the second end point can be a sole, and the above-mentioned limb positions are only used for describing the relative relationship between the upper and second end points, and are not used for limiting the scope of the first end point and the second end point of the present invention.
The analysis device 11 is a computer device. The analysis device 11 includes a motion function analysis module 111 and a display module 112. The motion function analysis module 111 is connected to the display module 112. The analyzer 11 is further electrically connected to the impedance detection module 1014 through the information communication module 12 to receive the measured impedance value and perform the subsequent analysis operation.
When the system is operating, the driving module 1013 drives the second end point of the limb of the user 2 to perform a constant or near constant motion relative to the first end point through the transmission mechanism module 1012 and the limb guiding module 1011. Due to the shape, direction, tension, etc. of the bones, muscles, tendons and fascia, the limb presents mechanical impedance at the driving point when guided, and the analyzer 11 analyzes the components of the mechanical impedance (e.g. mass (m), stiffness (k), or damping (c)) to obtain the equivalent structure of the limb of the user 2.
The system can further set the guiding motion path of the limb through different types of transmission mechanism modules 1012. The motion path is a closed curve or a straight line segment in a space, the closed curve comprises a circular curve, an elliptic curve, an 8-shaped curve, an infinity-shaped curve and the like, and the closed curve is a planar motion path in the space or a three-dimensional motion path. The straight line segment is a singular point in operation because the end points of the reciprocating operation are, therefore, the data of the end points can be selected to be excluded when the limb movement function curve is calculated. The transmission module 1012 can be a straight link, ball bearing, four-bar, linear slide, cam, gear, etc. device that can move in space. The path of movement and the type of actuator module 1012 are not limited thereto.
For the driving module 1013, the mechanical impedance of the limb reaction can be regarded as the output driving load change (large mechanical impedance → heavy load; small mechanical impedance → light load) for the driving module 1013, and the impedance detecting module 1014 is an electronic device with an operation function, such as a computer device, a micro-processor (microchip) circuit with firmware of an impedance detecting program recorded thereon, or a digital circuit constructed by hardware description language (Verilog, VHD L) and the like, so that the impedance detecting module 1014 can measure the working voltage and current signals of the driving module 1013, and after analyzing the electrical signals of the frequency domain of the motion path of the limb of the user 2 relative to each motion cycle, can obtain the equivalent mechanical impedance value of the limb reaction, and transmit the measured value to the analyzing device 11 through the information communication module 12 for analysis.
To further illustrate the concept of equivalent transformation, please refer to fig. 3, which is an equivalent model diagram of the limb driving subsystem 101 of the present invention. The limb driving subsystem 101 is formed by connecting a limb guiding module 1011, a transmission mechanism module 1012 and a driving module 1013 in series. Each of the three modules has an energy input port and an energy output port. Each module receives energy at its input port from the output port of the previous module in Potential (Potential) and flow (flow) quantities. The product of the potential and the flow is the power input or output. The quotient of the potential and the flow is the impedance of the port. The input impedance of each module determines the amount of power transmitted to the work end.
The function of the drive module 1013 (e.g., a motor) is to convert electrical energy into mechanical energy. The input potential and flow rate are voltage (voltage/E) and current (current/I), respectively, and the output potential and flow rate are torque (torque/T) and rotational speed (rotational speed/omega), respectively. Since the input/output belong to different energy domains, the power transmission relationship therebetween is a sensing matrix (TD)]DThe equation is as follows:
the function of the gear module 1012 (e.g., a rack and pinion pair) is:
(1) changing the action of mechanical work, e.g. changing a rotation to a linear movement; and
(2) the matching of the mechanical impedance of the energy supply side of the limb drive subsystem 101 to the limb work side is adjusted. Matched impedances may maximize power transfer efficiency. The module outputs Transmission Matrix (TM) of the relationship between potential quantity and flow]MThe equation is as follows:
the limb guidance module 1011 (e.g., the disc and the handle) functions to apply the received energy to the second end of the limb, and the relationship between the input and output potential flow rates can be determined by the transmission matrix [ TM ]]GExpressing:
from equations (a), (b), and (c):
the limb drive subsystem 101 thus has an input to output relationship:
the above matrix [ TD]D、[TM]M、[TM]G、[T]The A, B, C and D parameters in (1) can be obtained from the following relationship:
wherein the output F and v are also the input potential and flow of the second end of the limb, respectively. Since the electrical impedance is ZeE/i, mechanical impedance ZmEquation (d) can be rewritten as:
when equation (f) indicates A, B, C and D is known, the measured limb drive subsystem 101 can be derived from the input electrical impedance ZeTo scale the driving mechanical impedance Z of the limb at the second end pointm。
To illustrate the meaning of the above formula, the present invention uses a spring assembly to equivalent the limb structure, the driving module 1013 is a dc motor, the transmission mechanism module 1012 is a pair of gears, the limb guiding module 1011 is a disc, and the equivalent model is shown in fig. 4.1, where theta (θ) is the rotation angle of the disc, r is the radius of the disc, F is the stress of the spring, l is the length of the spring, and k is the elastic coefficient of the spring. Please refer to fig. 4.2, which shows 6 movement states of the disk. The theoretical values and measured values are shown in fig. 4.3 (the real line segment is the measured value, and the imaginary line segment is the theoretical value), and the horizontal axis of fig. 4.3 is the rotation angle and the vertical axis is the mechanical impedance. The formula of the torque force T used for calculating the theoretical value is as follows:
as can be seen from fig. 4.3, the theoretical values of the present invention are very close to the actual measured values, so as to prove the feasibility of the evaluation method of the present invention. The difference between the measured value and the theoretical value is caused by the connecting component for fixing the spring component, and the difference value is a quantifiable and estimated value and can be eliminated by a signal processing procedure at the back end, and the description is given.
Example 1
In this embodiment, referring to fig. 1, the limb guiding module 1011 is a circular disc (as shown in fig. 5). In this embodiment, the first end point of the limb of the user 2 is defined as the shoulder, the second end point of the limb is defined as the palm, the limb guiding module 1011 is a ring or a disc with a holding portion h1, a plurality of insertion holes h2 are arranged on the ring or the disc, and the user 2 can insert the holding portion h1 into the insertion holes h2 with different radii to set the rotation radius. The transmission mechanism module 1012 is a straight link, and two ends of the straight link are movably connected to the output shaft of the driving module 1013 and the rotating shaft of the ring or the disc through a universal joint, respectively, so that the limb guiding module 1011 guides the limb of the user 2 to form a circular motion path during the operation. In the operation process, the impedance detection module 1014 and the exercise function analysis module 112 analyze the operation angle of the limb guidance module 1011 and the mechanical impedance reflected by the angle to calculate the limb exercise function curve, and display the result through the display module 112, or transmit the result to a computer device at the medical care end for evaluation by the medical care personnel, and the user can adjust the rotation speed of the driving module 1013 according to the display result or the suggestion of the medical care personnel to adjust the rehabilitation strength.
The exercise function analysis module 112 can further subtract the muscle tightness variation and the measurement error from the limb exercise function curve obtained by multiple rapid measurements, and provide more accurate measurement information to analyze the current activity state of the limb. The display module 112 can optionally display the measurement information and the analysis information at this time, so that the user 2 can know the activity state of the limb. After knowing the current activity of the limbs, the user 2 can set the operation speed of the motor of the driving module 1013 to increase the rehabilitation strength.
The information communication module 113 can further selectively transmit the data signals such as the mechanical impedance, the limb movement function curve, etc. to the computer device at the medical care end through the communication network, so that the medical care personnel can evaluate the current recovery status, and the computer device at the medical care end can further suggest the user to adjust and set the operation intensity of the driving module 1013 according to the evaluation result. The communication network includes a wired communication network or a wireless communication network.
Example 2
The embodiment provides a method for measuring limb movement function, which is applied to the limb movement function evaluation system, and comprises the following steps:
s101: the first end point of the limb of the user 2 is fixed on the limb movement function assessment apparatus 10.
S102: the second end point of the limb of the user 2 is guided for movement relative to the first end point.
S103: the mechanical impedance of the driving point response is measured as the user 2 moves his limb.
S104: providing a limb movement function curve according to the measured mechanical impedance and the movement path of the limb of the user.
Example 3
The embodiment provides a computer device for analyzing the limb movement function, which comprises a communication module and a processing module connected with the communication module. The communication module is used for connecting at least one limb movement error evaluation system. The processing module accesses a plurality of limb movement function curves from at least one limb movement function evaluation system to perform statistical analysis, and provides rehabilitation judgment information which is used for judging the rehabilitation degree represented by the limb movement function curves.
Example 4
The embodiment provides a computer device for analyzing the above-mentioned limb movement ability, and the difference between the embodiment 4 and the embodiment 3 is that the medical staff in the embodiment 4 can obtain a plurality of limb movement function curves from the limb movement error evaluation system of each user by the computer device for statistical analysis. To improve the accuracy of the statistics, the computer device can perform statistics on a part of the curves extracted from the multiple limb movement function curves transmitted by each user, for example, each user transmits 100 limb movement function curves, and performs statistical analysis on the middle 50% (from 41 st to 70 th). After the user recuperates every day, the computer device can analyze and evaluate the recuperate degree of the day so that the user or the medical care end can know an objective evaluation result in real time.
Example 5
The embodiment provides a computer device for analyzing the limb movement ability, and the difference between the embodiment 5 and the embodiment 3 is that the user of the embodiment 5 can communicate with the limb movement evaluation system through a handheld electronic device, such as a tablet computer, a smart phone, and the like, and perform the analysis and statistics operation, so that the user can grasp the daily rehabilitation progress in real time from the handheld electronic device.
Example 6
The embodiment provides a computer device for analyzing the limb movement ability, the embodiment 6 is similar to the embodiment 3, and the difference is that the medical care end of the embodiment 6 can obtain the limb movement function curves of a large number of users through the computer device, and sets the step distances (for example, the step distances 1 to 5) according to the severity of the limbs of each user, and when the user operates the system, the user can know the rehabilitation stage by inquiring the step distance information.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (22)
1. A limb movement function assessment method is applied to a limb movement function assessment system, and comprises the following steps:
a first end point for securing a limb of a user;
guiding a second end point of the user's limb to move relative to the first end point, the second end point being spaced from the first end point;
measuring variation of working electric signals which are reflected to a driving module of the limb movement function evaluation system when the user moves limbs so as to provide mechanical impedance; and
providing a limb movement function curve according to the change of the measured mechanical impedance corresponding to the movement path of the second endpoint;
the impedance detection module of the limb movement function evaluation system measures the voltage and the current of the working electric signal and analyzes the working electric signal of the movement path of the second end point of the user limb relative to the frequency domain of each movement cycle so as to calculate the equivalent mechanical impedance value of the user limb when the user limb moves.
2. The method of claim 1, wherein the mechanical impedance is defined as force at the time of guidance divided by movement speed at the time of guidance.
3. The method of claim 1, wherein the motion path of the second endpoint is a closed curve in space.
4. The method of claim 3, wherein the closed curve comprises one of a circular curve, an infinity-shaped curve, an elliptical curve, or a combination of two or more.
5. The method of claim 3, wherein the closed curve is a plane in space.
6. The method of claim 1, wherein the motion path is a straight line.
7. The method of claim 3, wherein the closed curve comprises a segment-type back-and-forth curve, and the limb movement function curve excludes the singular points of the segment-type back-and-forth curve.
8. The method of claim 1, wherein the mechanical impedance is defined as an impedance value of a shape of a bone, muscle, or tendon of the user's limb in response to a driving point of the user's limb during exercise.
9. The method of claim 1, wherein the mechanical impedance is one of mass (m), stiffness (k), and damping (c) of the user's limb, or a combination thereof.
10. A limb movement function assessment system is characterized by comprising the following modules:
the limb fixing module is used for fixing a first end point of a limb of a user;
the limb guide module is used for guiding a second end point of the limb of the user, and the second end point is spaced from the first end point;
the driving module drives the limb guiding module through the transmission mechanism module to enable the second end point to move relative to the first end point;
the impedance detection module is connected with the driving module to measure variation of working electric signals of the driving module which are reflected to the limb movement function evaluation system when the user limb moves so as to provide mechanical impedance; and
the motion function analysis module is connected with the impedance detection module and provides a limb motion function curve according to the measured mechanical impedance and a motion path corresponding to the second endpoint of the limb of the user;
the impedance detection module measures the voltage and the current of the working electric signal, and analyzes the working electric signal of the frequency domain of the motion path of the second endpoint of the user limb relative to each motion cycle so as to calculate the equivalent mechanical impedance value of the user limb when the user limb moves.
11. A limb movement function assessment system according to claim 10, wherein the mechanical impedance is defined as the force at the time of guidance divided by the speed of movement at the time of guidance.
12. The limb motor function assessment system according to claim 10, wherein the movement path of the second endpoint is a closed curve in space.
13. The system of claim 12, wherein the closed curve comprises one of a circular curve, a character-shaped curve, an elliptical curve, or a combination thereof.
14. The system of claim 12, wherein the closed curve is a plane in space.
15. The limb motor function assessment system of claim 10, wherein the motion path is a straight line.
16. The system of claim 12, wherein the closed curve comprises a segment-type back-and-forth curve, and the limb motor function curve excludes singularities of the segment-type back-and-forth curve.
17. A limb movement function assessment system according to claim 10, wherein said mechanical impedance is defined as the impedance value of the bone, muscle or tendon form of the user's limb in response to its driving point during movement.
18. A limb movement function assessment system according to claim 10, wherein said mechanical impedance is one of mass (m), stiffness (k), damping (c) or a combination of two or more equivalent to said user's limb.
19. A limb movement function assessment system according to any of claims 10 to 18, wherein said mechanical impedance is further scaled by a sensing matrix of said drive module, a transmission matrix of said actuator module and a transmission matrix of said limb guidance module.
20. A system as claimed in any one of claims 10 to 18, further comprising an information communication module connected to the motor function analysis module for selectively transmitting the mechanical impedance or the limb motor function curve to an external computer device and triggering the computer device to perform analysis.
21. A computer device for analyzing limb movement functions, comprising the following modules:
a communication module connected to at least one limb motor function assessment system according to claim 20; and
the processing module is connected with the communication module, accesses the limb movement function curves of the plurality of pens from at least one limb movement function evaluation system for statistical analysis, and provides rehabilitation judgment information, and the rehabilitation judgment information is used for judging the rehabilitation degree represented by the limb movement function curves.
22. A storage medium storing a computer program for analyzing a degree of rehabilitation of a motor function of a limb, wherein when the computer program is loaded and executed by a computer device, the steps of:
accessing a plurality of the limb motor function curves transmitted by the limb motor function assessment system of claim 20; and
and counting the limb movement function curve, and providing rehabilitation judgment information, wherein the rehabilitation judgment information is used for judging the rehabilitation degree represented by the limb movement function curve.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10192350A (en) * | 1997-01-10 | 1998-07-28 | Yaskawa Electric Corp | Controller for limb driving device |
| CN102198003A (en) * | 2011-06-07 | 2011-09-28 | 嘉兴恒怡科技有限公司 | Limb movement detection and evaluation network system and method |
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| US7090650B2 (en) * | 2002-12-30 | 2006-08-15 | Industrial Technology Research Institute | Continuous passive motion exercise system with driven monitoring |
| TWI354550B (en) * | 2008-05-09 | 2011-12-21 | Univ Nat Taiwan | Rehabilitating and training device and controlling |
| TW200948349A (en) * | 2008-05-16 | 2009-12-01 | Nan Kal Inst Of Technology | Forearm rotation motility rehabilitation device and method thereof |
| CN102204815B (en) * | 2011-06-02 | 2012-11-14 | 中国科学院宁波材料技术与工程研究所 | Human body mechanical impedance measuring device and measuring method thereof |
| TWI454255B (en) * | 2012-03-29 | 2014-10-01 | Univ Chang Gung | The use of muscle signal control of the rehabilitation system |
| TWI554262B (en) * | 2013-05-13 | 2016-10-21 | Univ Nat Taiwan | Limb rehabilitation and training system |
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| JPH10192350A (en) * | 1997-01-10 | 1998-07-28 | Yaskawa Electric Corp | Controller for limb driving device |
| CN102198003A (en) * | 2011-06-07 | 2011-09-28 | 嘉兴恒怡科技有限公司 | Limb movement detection and evaluation network system and method |
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