TWI728582B - Exoskeleton system for rehabilitation training in collaboration between upper limb and lower limb on the basis of virtual reality and augmented reality - Google Patents

Abstract

The present invention provides an exoskeleton system for rehabilitation training in collaboration between upper limb and lower limb on the basis of virtual reality and augmented reality, including: an upper limb exoskeleton, a lower limb exoskeleton, an adjusting system for balancing center of gravity and a pneumatic muscle basis dynamic weight loss system. The upper limb exoskeleton, the lower limb exoskeleton and the pneumatic muscle basis dynamic weight loss system are coupled each other. The pneumatic muscle basis dynamic weight loss system is set with a pneumatic muscle device with a displacement component on its top. Between the pneumatic muscle device and the displacement component coupling a tension force transducers. The two ends of the displacement component is in pin connection with at least one support frame respectively. The said support frame is in pin connection with a backboard at the end correspondingly to the pneumatic muscle device and the backboard sets an adjustment component at the end correspondingly to the upper limb exoskeleton and the lower limb exoskeleton. The adjusting system for balancing center of gravity sets a frame in quadrilateral and at least one elastic element is in the frame. The adjusting system for balancing center of gravity is coupled to the pneumatic muscle basis dynamic weight loss system. The virtual reality and augmented reality system is included with at least one motion task, at least one augmented reality scene and at least one virtual scene. The virtual reality and augmented reality system is coupled to the exoskeleton system. A processing unit is coupled to the upper limb exoskeleton, the lower limb exoskeleton, the pneumatic muscle device, the adjusting system for balancing center of gravity and the virtual reality and augmented reality system. An eye tracker is coupled to the virtual reality and augmented reality system and the processing unit. The processing unit sets an eye tracking time value which starts to process one of the said motion tasks while the eye tracker tracks and measures an eye position to reach the eye tracking time value. Thereby, on the basis of an exoskeleton system for rehabilitation training in collaboration between upper limb and lower limb, the present invention combines virtual reality and augmented reality techniques and constantly inspects the patient’s ratio fluctuation of weight loss that results from center of gravity shift by conducting rehabilitation training using pneumatic muscle basis dynamic weight loss system. The processing units drive pneumatic muscle device to move up and down and constantly compensate for the weight difference caused by the center of gravity shift, which achieves the goal of properly lifting or lowering the patient and buffer the mutation from human pressure with the adjusting system for balancing center of gravity. Additionally, a dynamic weight loss system based on pneumatic muscles is via processing units that conduct quantity of weight loss setting in different proportions according to the rehabilitation state. The processing units perform a dynamic weight loss control in a stationary state to ensure the stability of rehabilitating training, making eye tracker conduct the said motion task to enhance the initiative and proactivity of patients for rehabilitation.

Description

Collaborative rehabilitation exoskeleton system for upper and lower limbs based on virtual reality and augmented reality

The present invention provides a collaborative rehabilitation exoskeleton system for upper and lower limbs based on virtual reality and augmented reality, especially a collaborative rehabilitation training mode combining upper limbs and lower limbs, combined with virtual reality technology, augmented reality technology, Pneumatic muscle-based dynamic weight loss system, center of gravity balance adjustment system, eye tracker and treadmill, allowing patients to simulate the posture of the upper and lower limbs when walking in a normal human body, and enhance the rehabilitation training through the coordinated movement of the upper and lower limbs Effect and accelerate the recovery process of limb movement function.

According to, human walking is a combination of upper limbs (arms) and lower limbs (legs). The arms are in a natural swinging state when walking to ensure that the body does not tip over so that the walking movement can continue. The research results also prove that the movement of the upper and lower limbs of the human body passes through the nerves. Interaction has an impact.

In recent years, with the intensification of domestic aging, stroke and limb dysfunction caused by cardiovascular disease and other factors have not only severely affected the normal life of patients, but also caused a huge burden on the family and society.

For patients with lower extremity loss of motor function, active upper extremity exercise is conducive to the recovery of lower extremity motor function. However, the current rehabilitation training equipment used in domestic hospitals is only for the upper limbs or lower limbs. The equipment for limb rehabilitation training cannot allow the patient’s limbs to cooperate and coordinate with each other to simulate the normal walking posture of the human body, and the entire training process is tedious and interactive. There is no correct and scientific evaluation method to allow the patient to improve the rehabilitation intention and understand the future. In the direction of efforts, patients are often in a passive state with low participation, which greatly restricts the clinical use of rehabilitation training systems in China. In addition, the existing rehabilitation training systems lack individual adaptability and effective control strategies, resulting in rehabilitation training. Low efficiency and effectiveness.

At present, clinical rehabilitation training has two obvious problems: one is the imperfect function of the equipment, which causes physicians or physical therapists to be in manual labor assisting patients in rehabilitation training, which not only loses physical strength quickly, but also cannot be instantaneous. Understand the feedback of various exercise parameters of patients' rehabilitation training. As a result, it is impossible to accurately evaluate the patient's rehabilitation training effect during rehabilitation, and it is impossible to further propose more effective training tasks. Second, rehabilitation training is a large number of monotonous repetitive exercises, and patients are not actively involved in active participation, so the effect of rehabilitation training is not good. Both of the above problems violate the three core principles of sports rehabilitation: repetitive training, facing tasks, and active intentions. Therefore, giving doctors or physical therapists effective feedback, and then giving patients appropriate training tasks and arousing the enthusiasm of patients to actively participate, has become an important problem that needs to be solved in rehabilitation medicine. The existing rehabilitation training system only focuses on upper limb rehabilitation training or lower limb rehabilitation training, and does not show the characteristics of human limb coordination training, and cannot realize the coordination and interaction of human limbs. At present, there are not many related researches combining upper and lower limbs cooperative rehabilitation training. Therefore, there are still great shortcomings in the coordination training of human limbs.

In view of this, our inventors have devoted themselves to further research on the exoskeleton system for extremity rehabilitation using virtual reality and augmented reality, and proceeded to develop and improve the exoskeleton system with a better design to solve the above problems, and After continuous experimentation and modification, the present invention came out.

In order to achieve the above objective, the present invention provides a cooperative rehabilitation exoskeleton system for upper and lower limbs based on virtual reality and augmented reality, which includes: an exoskeleton system equipped with an upper limb exoskeleton , Lower limb exoskeleton, a center of gravity balance adjustment system and a pneumatic muscle-based dynamic weight loss system; the upper limb exoskeleton, the lower limb exoskeleton and the pneumatic muscle-based dynamic weight loss system are coupled to each other; and the pneumatic muscle The basic dynamic weight loss system is provided with a pneumatic muscle device, the top of the pneumatic muscle device is provided with a displacement member, a tension sensor is coupled between the pneumatic muscle device and the displacement member, and both ends of the displacement member are pivotally connected to at least A support frame, the support frame is pivotally connected to a back plate at one end of the pneumatic muscle device, and the back plate corresponds to the upper limb exoskeleton. One end of the lower limb exoskeleton is provided with an adjusting member; the center of gravity adjustment system is provided with a A quadrilateral frame with at least one elastic element, the center of gravity balance adjustment system is coupled to the pneumatic muscle-based dynamic weight reduction system; a virtual reality (VR) and augmented reality (Augmented Reality) , AR) system, which includes at least one motion task, at least one augmented scene and at least one virtual scene, the virtual reality and augmented reality system are coupled to the exoskeleton system; a processing unit is coupled to the exoskeleton system The upper limb exoskeleton, the lower limb exoskeleton, the pneumatic muscle device, the center of gravity balance adjustment system, and the virtual reality and augmented reality system; and an eye tracker coupled to the virtual reality and augmented reality system And the processing unit, the processing unit is provided with an eye tracking time value, and when the eye tracker measures an eyeball position and reaches the eye tracking time value, it starts to perform one of the above-mentioned exercise tasks.

According to the aforementioned virtual reality and augmented reality upper and lower extremity collaborative rehabilitation exoskeleton system, wherein the virtual reality and augmented reality system are further coupled to a motion capture system and a display unit, and the The processing unit is coupled to the motion capture system, and the motion capture system measures the motion trajectories of the upper limb exoskeleton and the lower limb exoskeleton during normal walking and walking on the spot. The motion trajectory analysis is converted into complex motion data, and the motion data is transmitted to the virtual reality and augmented reality system to correspondingly generate one of the motion tasks and one of the virtual and augmented scenes .

According to the above-mentioned collaborative rehabilitation exoskeleton system for upper and lower limbs based on virtual reality and augmented reality, the upper limb exoskeleton further includes a first shoulder joint mechanism, a second shoulder joint mechanism, and a first elbow Joint mechanism, a second elbow joint mechanism, and a wrist joint mechanism; the first shoulder joint mechanism, the second shoulder joint mechanism, the first elbow joint mechanism, the second elbow joint mechanism, and the wrist joint mechanism are coupled The processing unit, and the first shoulder joint mechanism, the second shoulder joint mechanism, the first elbow joint mechanism, the second elbow joint mechanism, and the wrist joint mechanism respectively transmit an upper limb movement state and an upper limb muscle fatigue state To the processing unit, the processing unit selects different exercise tasks corresponding to the fatigue state of the upper limb muscles; the lower limb exoskeleton further includes a hip joint mechanism, a knee joint mechanism, and an ankle joint mechanism; the hip joint mechanism, the knee joint mechanism The joint mechanism and the ankle joint mechanism are coupled to the processing unit, and the hip joint mechanism, the knee joint mechanism, and the ankle joint mechanism respectively transmit the lower limb motion state and the lower limb muscle fatigue state to the processing unit, the processing unit Corresponding to the lower extremity muscle fatigue state corresponding to select another exercise task.

According to the aforementioned virtual reality and augmented reality upper and lower extremity cooperative rehabilitation exoskeleton system, wherein the upper extremity exoskeleton and the lower extremity exoskeleton are further provided with a buffer element, and the buffer element is coupled to the processing The processing unit controls the cushioning element based on AI (Artificial Intelligence, AI) automatic parameter adjustment to make the upper limb exoskeleton and the lower limb exoskeleton present an over-damping system, and safely return to the motion trajectory in a smooth and slow manner.

According to the aforementioned virtual reality and augmented reality upper and lower limb cooperative rehabilitation exoskeleton system, the processing unit is further coupled to an information management system, and the information management system is provided with a database.

According to the above-mentioned exoskeleton system based on virtual reality and augmented reality, the upper limbs cooperative rehabilitation exoskeleton system, wherein the exoskeleton system is further assembled between a system support frame and a treadmill, and the treadmill is coupled The processing unit is connected, and an adjustment device is arranged at the bottom of the system support frame, and the adjustment device can adjust the position and height of the system support frame corresponding to the treadmill.

Based on the above description and settings, it is obvious that the present invention mainly has the following advantages and effects, which are described in detail as follows:

1. The present invention combines the virtual reality (VR) and augmented reality (AR) technology based on the above-mentioned lower extremity collaborative rehabilitation exoskeleton, and at the same time increases the complexity through the virtual reality (VR) and augmented reality (AR) The fun of fitness training, the establishment of a rehabilitation training system based on virtual reality (VR) and augmented reality (AR) technologies to create highly immersive and interactive virtual scenes or augmented scenes, which can complete the damage of the damaged nerve center Active and passive stimulation acts on the patient's nerve center through 3D visual and auditory effects, realizing the stimulation of the patient's active movement idea, which can effectively promote the patient's rehabilitation process. The system can provide a variety of stimuli, enhance the initiative and enthusiasm of patients, and promote the rehabilitation process of patients from multiple perspectives.

2. The virtual reality and augmented reality upper and lower limbs cooperative rehabilitation exoskeleton system of the present invention is suitable for a wide range of people. It can train the upper and lower limbs at different speeds and intensities, and also adds some personalized elements to increase the patient's performance Interest in rehabilitation training. The system can scientifically train the limbs of patients, save training data for research and processing, and set different training modes for different conditions. In addition, the use of virtual reality (VR) and augmented reality (AR) for rehabilitation training has advantages that the real world does not have. Compared with the results of rehabilitation training in the real environment, the action skills of virtual scenes and augmented scenes The effect of learning and sports rehabilitation training is better, and the application of virtual reality (VR) and augmented reality (AR) technology to the field of rehabilitation medicine can reduce the limitations of traditional rehabilitation training methods.

3. The pneumatic muscle-based dynamic weight loss system of the present invention combines the characteristics of gas compressibility to design a dynamic weight loss system with a pneumatic muscle with light weight and high output (output is 10 times that of a cylinder with the same bore). The single pneumatic muscle drive method solves the shortcomings of the motor and the pneumatic cylinder driving weight loss. During the training process, according to the specific condition of the patient's lower limb rehabilitation and rehabilitation training needs, the pressure can be driven by the proportional pressure valve through the control system. The muscle-based dynamic weight loss system moves up and down to properly lift or lower the patient to achieve the purpose of dynamic weight loss. In addition, the center of gravity balance adjustment system of the present invention is based on the track change curve of the center of gravity of the person during normal standing and walking, and a passive center of gravity adjustment mechanism designed with elastic elements can realize the adjustment of the center of gravity of the person during normal standing and walking. Balance adjustment; Therefore, when the center of gravity balance adjustment system is under pressure from the human body, it will automatically expand and contract according to the pressure change, so it can buffer sudden changes in pressure, and finally will passively realize the balance adjustment of the change of the person's center of gravity trajectory with the up and down movement of the person's center of gravity. Therefore, when a patient uses the present invention to perform rehabilitation, the present invention can use the barometric muscle-based dynamic weight loss system to achieve dynamic constant weight loss based on the patient’s gait frequency, step length, height, and weight, etc., which affect the center of gravity data. The balance adjustment system of the center of gravity buffers the sudden change of the pressure from the human body. In addition, the dynamic weight loss system based on the pneumatic muscle can be set by the processing unit to reduce weight in different proportions according to the rehabilitation state, and the processing unit can perform dynamic constant weight loss control. To ensure the stability of rehabilitation; in addition, if the patient is inclined or tripped during rehabilitation and leaves the rehabilitation path, the present invention can smoothly and slowly return to the motion trajectory through the buffer element, so as to improve the return to the motion trajectory. Stability and safety.

4. The present invention utilizes the new concept of extremity cooperative rehabilitation training, combined with virtual reality (VR) and augmented reality (AR), an exoskeleton system for patients to perform upper and lower extremity cooperative rehabilitation training, which can realize upper and lower extremities The coordinated training of the limbs combined with exercise stimulates the walking nerve, and the eye tracker is used to start it 1. The exercise tasks mentioned above can improve the enthusiasm of patients to actively participate in rehabilitation training, so that patients gradually have the ability to exercise autonomously, and have an important contribution to reducing personal and social economic burden.

〔this invention〕

1: Exoskeleton system

11: Upper extremity exoskeleton

111: The first shoulder joint mechanism

112: The second shoulder joint mechanism

113: The first elbow joint mechanism

114: Second elbow joint mechanism

115: Wrist Joint Mechanism

12: Lower extremity exoskeleton

121: Hip Joint Mechanism

122: Knee Joint Mechanism

123: Ankle Joint Mechanism

13: Pneumatic muscle-based dynamic weight loss system

131: Displacement piece

132: Support frame

133: Backplane

134: adjustment parts

135: Tension sensor

136: Pneumatic Muscle Device

17: Center of gravity balance adjustment system

171: Frame

172: Elastic element

14: Cushioning element

15: System support frame

151: adjustment device

16: treadmill

2: Virtual reality and augmented reality system

21: Motion capture system

22: display unit

3: Processing unit

4: Information Management System

41: Database

5: Eye Tracker

Figure 1 is a perspective view of the present invention.

Figure 2 is a schematic diagram of the structure of the present invention.

Figure 3 is a perspective view of the present invention from another perspective.

Figure 4 is a perspective view of the support frame of the removal system of the present invention.

Regarding the technical means of our inventors, several preferred embodiments are described in detail below in conjunction with the drawings, so as to provide a thorough understanding and approval of the present invention.

Please refer to Figures 1 to 4, the present invention is a virtual reality and augmented reality based upper and lower extremity collaborative rehabilitation exoskeleton system, which includes: an exoskeleton system 1, which is provided with an upper extremity exoskeleton system The skeleton 11, the lower extremity exoskeleton 12, a center of gravity balance adjustment system 17 and a pneumatic muscle-based dynamic weight loss system 13; the upper limb exoskeleton 11, the lower limb exoskeleton 12, and the pneumatic muscle-based dynamic weight loss system 13 are mutually related Coupling; In a preferred embodiment of the present invention, the upper extremity exoskeleton 11 is part of the EtherCAT (Ethernet Control Automation Technology) network control architecture to control all the motors of the upper exoskeleton 11 and sense all motors All the motor drives are connected in series with the control signal using only one network line, eliminating the need for complex field bus configuration architecture. The lower extremity exoskeleton 12 part is the bus standard (Controller Area Network, CAN bus) Therefore, the control of all thin motors of the lower extremity exoskeleton 12 is performed, and the sensing and control signals of all thin motors are connected in series with all motor drivers only through the CAN bus network, eliminating the complicated field bus configuration architecture; in one embodiment , The pneumatic muscle-based dynamic weight loss system 13 is further provided with a pneumatic muscle device 136, the pneumatic muscle device 136 is provided with a displacement member 131 at the top, and a tension sensor is coupled between the pneumatic muscle device 136 and the displacement member 131 135, and at least one support frame 132 is pivoted on both ends of the displacement member 131. The support frame 132 is pivotally provided with a back plate 133 at one end of the pneumatic muscle device 136, and the back plate 133 corresponds to the upper extremity exoskeleton 11, the One end of the lower limb exoskeleton 12 is provided with an adjustment member 134; in one embodiment, the exoskeleton system 1 is assembled between a system support frame 15 and a treadmill 16, and the bottom of the system support frame 15 is provided with an adjustment device 151 The adjustment device 151 can adjust the position and height of the system support frame 15 corresponding to the treadmill 16; and the pneumatic muscle-based dynamic weight reduction system 13 is pivoted to the system support frame 15 at one end; the center of gravity balance adjustment System 17, which is provided with a quadrilateral frame 171, at least one elastic element 172 is provided in the frame 171, the center of gravity balance adjustment system 17 is coupled to the pneumatic muscle-based dynamic weight loss system 13; wherein, the center of gravity balance adjustment The system 17 is based on the change curve of the human center of gravity trajectory during normal standing and walking, and a passive center of gravity change adjustment mechanism designed by the elastic element 172 can realize the balance adjustment of the human center of gravity during normal standing and walking; When the center of gravity balance adjustment system 17 receives pressure from the human body, it will automatically expand and contract according to the change of pressure, so it can buffer sudden changes in pressure, and finally will passively realize the balance adjustment of the change of the person's center of gravity trajectory with the movement of the person's center of gravity; a virtual reality And augmented reality system 2 (such as virtual reality (VR) and augmented reality (AR) platforms), which include at least one motion task and at least one virtual scene (such as virtual reality (VR) and augmented reality) Reality (AR) scene), the virtual reality and augmented reality system 2 are coupled to the exoskeleton system 1; In one embodiment, in the virtual reality and augmented reality system 2, in addition to allowing the patient to actually experience the interaction in an imaginary scene through the virtual reality (VR) platform, it can also be based on augmented reality (AR). The scene of the platform is combined with the real-world scene for the patient to interact; a processing unit 3, which is coupled to the upper limb exoskeleton 11, the lower limb exoskeleton 12, the pneumatic muscle device 136, the center of gravity balance adjustment system 17, the virtual The reality and augmented reality system 2 and the treadmill 16. In one embodiment, the processing unit 3 is further coupled to an information management system 4, and the information management system 4 is provided with a database 41; the information management system 4 It is mainly used to input, classify, store personal information and rehabilitation status, provide reliable information for medical staff and facilitate patients to manage their own information. A unified and orderly data standard is helpful to realize the management of medical information. In addition, the barometric muscle foundation The dynamic weight loss system 13 can be set by the processing unit 3 to reduce weight in different proportions according to the rehabilitation state, and the processing unit 3 can perform dynamic constant weight loss control; an eye tracker 5, which is coupled to the virtual reality and expansion The augmented reality system 2 and the processing unit 3. The processing unit 3 is provided with an eye tracking time value. When the eye tracker 5 tracks and measures an eye position and reaches the eye tracking time value, one of them is started. The motion task; in one embodiment, the virtual reality and augmented reality system 2 is further coupled to a motion capture system 21 and a display unit 22 (such as a 3D display), and the processing unit 3 is coupled to the The motion capture system 21 measures the motion trajectories of the upper limb exoskeleton 11 and the lower limb exoskeleton 12 during normal walking and walking on the spot, and converts the motion trajectory analysis and conversion through the processing unit 3 Is a plurality of exercise data, and the exercise data is transmitted to the virtual reality and augmented reality system 2 to correspondingly generate one of the exercise tasks and one of the virtual scenes or augmented scenes; the present invention is preferred In an embodiment, the upper limb exoskeleton 11 and the lower limb exoskeleton 12 are further provided with a buffer element 14, and the buffer element 14 is coupled to the processing unit 3, which is controlled based on The cushioning element 14 of AI (Artificial Intelligence, AI) automatic parameter adjustment makes the upper limb exoskeleton 11 and the lower limb exoskeleton 12 deviate from the motion trajectory in a smooth and slow manner to safely return to the motion trajectory; and in another implementation For example, the upper extremity exoskeleton 11 further includes a first shoulder joint mechanism 111, a second shoulder joint mechanism 112, a first elbow joint mechanism 113, a second elbow joint mechanism 114, and a wrist joint mechanism 115; A shoulder joint mechanism 111, the second shoulder joint mechanism 112, the first elbow joint mechanism 113, the second elbow joint mechanism 114, and the wrist joint mechanism 115 are coupled to the processing unit 3, and the first shoulder joint mechanism 111. The second shoulder joint mechanism 112, the first elbow joint mechanism 113, the second elbow joint mechanism 114, and the wrist joint mechanism 115 respectively transmit an upper limb movement state and an upper limb muscle fatigue state to the processing unit 3. The processing unit 3 selects different motion tasks corresponding to the fatigue state of the upper limb muscles; the lower limb exoskeleton 12 further includes a hip joint mechanism 121, a knee joint mechanism 122, and an ankle joint mechanism 123; the hip joint mechanism 121, the The knee joint mechanism 122 and the ankle joint mechanism 123 are coupled to the processing unit 3, and the hip joint mechanism 121, the knee joint mechanism 122, and the ankle joint mechanism 123 respectively transmit the lower limb movement state and the lower limb muscle fatigue state to The processing unit 3 and the processing unit 3 select another exercise task corresponding to the fatigue state of the lower limb muscles.

Therefore, please refer to Figs. 1 to 4 again. When the patient uses the present invention for rehabilitation, the pneumatic muscle-based dynamic weight loss system 13 uses the displacement member 131 to adjust the position of the support frame 132 , The upper extremity exoskeleton 11 and the lower extremity exoskeleton 12 are located in positions that are convenient for the patient to wear. At this time, the patient can put his limbs into the upper extremity exoskeleton 11 and the lower exoskeleton 12, and because of the height of each patient Therefore, the adjusting member 134 can be used to adjust the upper limb exoskeleton 11 and the lower limb exoskeleton 12 to the appropriate height of the patient’s limbs, so that the present invention can be adjusted according to the actual body shape of the patient, so that it can completely fit the actual body of the patient. Type, and suitable for patients of any body type; After being worn, the tension sensor 135 senses the weight of the patient and transmits it to the processing unit 3 for analysis. The processing unit 3 then causes the pneumatic muscle-based dynamic weight loss system 13 to generate a reverse tension, and the The processing unit 3 makes the virtual reality and augmented reality system 2 generate one of the exercise tasks according to the patient’s personal information in the information management system 4 for the patient to perform rehabilitation exercises, wherein the motion capture system 21 is the measurement of the patient's movement trajectory during rehabilitation, and the processing unit 3 converts the movement trajectory analysis into complex movement data, and transmits the movement data to the virtual reality and augmented reality system 2 , To correspondingly generate another exercise task and another virtual scene or augmented scene, wherein the virtual scene or augmented scene is presented on the display unit 22; when the patient is rehabilitating according to the exercise task, The eye tracker 5 can determine whether the patient actively participates in the training process, and during training or rehabilitation, the operating state of the pneumatic muscle-based dynamic weight loss system 13 is also analyzed by the processing unit and transmitted to the information management system 4 Stored in database 41.

Furthermore, due to the patient's physical defects, the patient's legs can no longer fully bear their own weight. According to the theory of rehabilitation medicine, the best rehabilitation effect can be achieved only by imitating the normal walking gait of the human body as much as possible. Therefore, when performing gait rehabilitation training, there must be a dynamic weight loss system that can set the weight loss ratio according to the patient's weight loss needs to reduce the force on the patient's legs, so that the training can achieve better results. The main purpose of the pneumatic muscle-based dynamic weight loss system 13 is to reduce the bearing capacity of the patient's legs and enable the patient to exercise more freely. However, at present, it is commonly used at home and abroad to drive weight reduction through a motor or a pneumatic cylinder, but the weight reduction position provided by the motor is fixed, which cannot provide a constant weight reduction when the patient's center of gravity changes. The pneumatic cylinder needs to have driving flexibility, but it has a problem that the weight loss ratio is difficult to control due to gas leakage. Therefore, the pneumatic muscle-based dynamic weight loss system 13 of the present invention combines the characteristics of gas compressibility to design a dynamic weight loss system with a pneumatic muscle with light weight and high output (output is 10 times that of a cylinder with the same bore). The single pneumatic muscle drive method solves the shortcomings of the motor and pneumatic cylinder driving weight loss. During the training process, it can be based on the specific conditions of the patient's lower limb rehabilitation and rehabilitation training needs. The pneumatic muscle device 136 is driven to move up and down through the processing unit, and the patient is appropriately lifted up or down to achieve the purpose of dynamic weight loss. Therefore, the present invention can use the pneumatic muscle-based dynamic weight loss system 13 to achieve dynamic and constant weight loss according to the patient's gait frequency, step length, height, and weight, so as to ensure the stability of rehabilitation; and if the patient is undergoing rehabilitation When a tilt or trip occurs and leaves the rehabilitation path, the present invention can use the buffer element 14 to safely return to the motion trajectory in a smooth and slow manner, so as to improve the stability and safety of returning to the motion trajectory.

In summary, the technical means disclosed in the present invention can effectively solve conventional problems and achieve the expected purpose and effect. It has not been seen in the publications, has not been used publicly, and has long-term progress before the application. The patent law claims that the invention is correct. Yan filed an application in accordance with the law and prayed that Jun Shanghui will give a detailed examination and grant the invention patent, which is very grateful.

However, the foregoing are only a few preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, all equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the content of the description of the invention are all It should still fall within the scope of the patent for this invention.

1: Exoskeleton system

11: Upper extremity exoskeleton

111: The first shoulder joint mechanism

112: The second shoulder joint mechanism

113: The first elbow joint mechanism

114: Second elbow joint mechanism

115: Wrist Joint Mechanism

12: Lower extremity exoskeleton

121: Hip Joint Mechanism

122: Knee Joint Mechanism

123: Ankle Joint Mechanism

13: Pneumatic muscle-based dynamic weight loss system

132: Support frame

133: Backplane

136: Pneumatic Muscle Device

15: System support frame

151: adjustment device

16: treadmill

Claims (6)

A collaborative rehabilitation exoskeleton system for upper and lower limbs based on virtual reality and augmented reality, which includes: an exoskeleton system with an upper limb exoskeleton, a lower limb exoskeleton, a center of gravity balance adjustment system, and a pneumatic muscle base The dynamic weight loss system; the upper limb exoskeleton, the lower limb exoskeleton and the pneumatic muscle-based dynamic weight loss system are mutually coupled; and the pneumatic muscle-based dynamic weight loss system is provided with a pneumatic muscle device, the pneumatic muscle device A displacement member is provided at the top end, a tension sensor is coupled between the pneumatic muscle device and the displacement member, and two ends of the displacement member are respectively pivotally connected to at least one support frame, and the support frame is pivotally connected to one end of the pneumatic muscle device A back plate, and the back plate corresponds to the upper extremity exoskeleton. One end of the lower extremity exoskeleton is provided with an adjusting member; the center of gravity balance adjustment system is provided with a quadrilateral frame, and at least one elastic element is provided in the frame, and the center of gravity The balance adjustment system is coupled to the pneumatic muscle-based dynamic weight loss system; a virtual reality (VR) and augmented reality (AR) system, which includes at least one exercise task and at least one virtual scene With the augmented scene, the virtual reality and augmented reality system are coupled to the exoskeleton system; a processing unit is coupled to the upper limb exoskeleton, the lower limb exoskeleton, the pneumatic muscle device, and the center of gravity balance adjustment System and the virtual reality and augmented reality system; and an eye tracker, which is coupled to the virtual reality and augmented reality system and the processing unit, the processing unit is provided with an eye tracking time value, when the When the eye tracker measures an eyeball position and reaches the eye tracking time value, it starts to perform one of the above-mentioned exercise tasks. As described in item 1 of the scope of the patent application, the upper and lower limbs collaborative rehabilitation exoskeleton system based on virtual reality and augmented reality, the virtual reality and augmented reality system are further coupled to a motion capture system and a Display unit, and the processing unit is coupled to the motion capture system. The motion capture system measures the motion trajectories of the upper limb exoskeleton and the lower limb exoskeleton during normal walking and walking in situ, and the processing unit The motion trajectory analysis is converted into complex motion data, and the motion data is transmitted to the virtual reality and augmented reality system to correspondingly generate one of the motion tasks and one of the virtual scenes or augmented scenes By. The upper and lower limbs collaborative rehabilitation exoskeleton system based on virtual reality and augmented reality as described in item 1 of the scope of patent application, wherein the upper limb exoskeleton further includes a first shoulder joint mechanism and a second shoulder joint mechanism , A first elbow joint mechanism, a second elbow joint mechanism and a wrist joint mechanism; the first shoulder joint mechanism, the second shoulder joint mechanism, the first elbow joint mechanism, the second elbow joint mechanism and the wrist The joint mechanism is coupled to the processing unit, and the first shoulder joint mechanism, the second shoulder joint mechanism, the first elbow joint mechanism, the second elbow joint mechanism, and the wrist joint mechanism respectively transmit an upper limb motion state and An upper limb muscle fatigue state is sent to the processing unit, and the processing unit selects different exercise tasks corresponding to the upper limb muscle fatigue state; the lower limb exoskeleton further includes a hip joint mechanism, a knee joint mechanism, and an ankle joint mechanism; the hip The joint mechanism, the knee joint mechanism, and the ankle joint mechanism are coupled to the processing unit, and the hip joint mechanism, the knee joint mechanism, and the ankle joint mechanism respectively transmit the lower limb motion state and the lower limb muscle fatigue state to the processing Unit, the processing unit correspondingly selects another exercise task corresponding to the fatigue state of the lower limb muscles. As described in any one of items 1 to 3 of the scope of patent application, the upper and lower limbs collaborative rehabilitation exoskeleton system based on virtual reality and augmented reality, wherein the upper limb exoskeleton and the lower limb exoskeleton are further provided with a buffer The buffer element is coupled to the processing unit, and the processing unit controls the buffer element based on AI (Artificial Intelligence, AI) automatic parameter adjustment so that the upper limb exoskeleton and the lower limb exoskeleton are safe in a smooth and slow manner Revert to the movement trajectory. As described in any one of items 1 to 3 of the scope of patent application, the upper and lower limbs collaborative rehabilitation exoskeleton system based on virtual reality and augmented reality, wherein the processing unit is further coupled to an information management system, the information The management system has a database. As described in any one of items 1 to 3 of the scope of patent application, the exoskeleton system based on virtual reality and augmented reality upper and lower extremity rehabilitation, wherein the exoskeleton system is further assembled in a system support frame and Between a treadmill, the treadmill is coupled to the processing unit, and an adjustment device is arranged at the bottom of the system support frame, and the adjustment device can adjust the position and height of the system support frame corresponding to the treadmill.

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