T.N. Ivanilova, M.A. Dneprovskaya, A.V. Kushnerov, S.A. Chichikov
  Download PDF
Abstract: The process of recovery (rehabilitation) after a congenital or acquired pathology of the central nervous system or motor functions is often quite long and complex. The involvement of modern information technologies in solving the problems of medical rehabilitation is an effective way, especially in the case of creating a complex in which the patient will be actively involved in the rehabilitation process through computer systems. The aim of the study is to develop a software and hardware complex that will allow you to turn any joint of the body into a computer mouse, thereby controlling the computer and solving rehabilitation problems. The developed software and hardware complex is designed to improve the effectiveness of rehabilitation of patients with neurological profile, as well as people with disabilities of group I and II. The article presents the results of the implementation stage of the hardware part of the "Limbtracker" complex, developed on the basis of the idea of Professor, Doctor of Medical Sciences S. V. Prokopenko. At the initial stage of the development of the complex, a technical task was formed. The device body and the internal arrangement of the components were modeled in a 3D editor. The problem of optimal choice of hardware and software tools that ensure the implementation of the project with minimal time and money is solved. The "Limbtracker" device scheme is implemented. The final prototype of the device has been implemented. The sample consists of a plastic case, an STM32F103 microcontroller, an MPU-9250 spatial orientation sensor, and a lithium-ion battery. The computer receives commands and tracks movements via the NRF24L01 wireless communication module. Thus, the developed hardware part of the complex allows you to read readings from the device, calculate the orientation in space and, as a result, control a personal computer without a mouse manipulator, change the sensitivity of sensors, thereby correcting the process of rehabilitation of patients. When creating the complex, modern information technologies were used to design and organize data that were not previously used for the tasks of medical remote rehabilitation. The used component base of the device and the applied software technologies allow you to create a significantly lower cost in comparison with analogues, the possibility of using it at home without the help of specialists.
Index terms: software and hardware complex, home rehabilitation, neurorehabilitation, STM32, microcontroller, device design, MPU9250.


Russia, 659305, Altai region, Biysk,
Trofimova Street, 27, room 404B
Tel. + 7-923-162-93-27
(executive secretary -
Golykh Roman Nikolayevich)

The certificate