TW201334771A - Rehabilitation horse riding simulation system combined with virtual reality - Google Patents

Abstract

The present invention provides a rehabilitation horse riding simulation system combined with virtual reality, which is connected with at least one computer device and comprises a horse riding simulator, a control module, a virtual reality module, a motion capture sensing module, and a rehabilitation performance evaluation module. The virtual reality module is capable of simulating a visual effect as horse moving and at least one landscape scene visual effect to be displayed on a display. The control module is used for controlling the moving direction of the virtual horse. The motion capture sensing module may real-time combine the rider and the horse riding machine with the control module, and project the rehabilitant onto the display, such that the rehabilitant (such as a patient with cerebral palsy) may ride on the horse riding simulator and real-time control the virtual horse in order to feel the realistic riding effect and become more interested in participating the rehabilitation, and thus enhance the rehabilitation performance. The pressure distribution sensing module and the motion capture sensing module on the saddle in cooperation with the evaluation program may be used for evaluating the rehabilitation performance in a more scientific manner.

Description

Combined virtual reality riding simulation system

The invention relates to a rehabilitation riding simulation system combining virtual reality, in particular to enable a user (such as a cerebral palsy patient) to be more integrated into a rehabilitation treatment during rehabilitation simulation riding, and at the same time, to promote the user's limbs. A virtual reality riding simulation system that combines operational functions with increased coordination of neuromuscular movements.

Cerebral Palsy is a non-progressive brain disorder. Due to the different areas of brain injury, common movement problems include developmental delay or stagnation, abnormal movements and postures, limited walking function, and balanced reaction defects. , abnormal muscle tone, poor coordination of neuromuscular tissue and the development of different symptoms such as muscle strength and insufficient muscular endurance. The treatment of cerebral palsy patients generally includes surgery, physical therapy and functional therapy. In terms of physical therapy and functional therapy, in recent years, the use of horseback riding activities to rehabilitate cerebral palsy patients has been gradually promoted. Most clinical evaluations have also shown that dynamic riding can have a good effect on muscle tone coordination, posture control, and psychotherapy in patients with cerebral palsy.

However, the real riding rehabilitation course needs to have enough space and the accompanying professional jockeys, which makes the equestrian treatment expensive and the location is easy to be restricted, so it is not suitable for the public; in addition, the real horse temper is not easy to control, It is easy to increase the risk of rehabilitation, especially in patients with cerebral palsy who often have poor balance and posture control ability. In view of this, it has developed a rehabilitation riding machine that can provide an action similar to that of a real horse. Because the rehabilitation riding machine can be placed indoors and occupy a small space, it can greatly increase user convenience and reduce risk. Moreover, the rehabilitation horse-riding machine can provide different speeds before and after and shaking, and can simulate the movement of real horses, so as to provide similar clinical treatment results with equestrian treatment; During the health treatment, they have not yet joined the virtual reality interface to provide the senses that the rehabilitation person is like a real horse riding. As a result, the rehabilitation person has long been rehabilitated in an indoor space, and gradually lacks freshness, which in turn reduces the willingness to recover. .

In order to solve the problems and deficiencies of the above-mentioned prior art, the main object of the present invention is to provide a rehabilitation riding simulation system combined with a virtual reality, which is coupled with at least one computer device, and includes a riding simulator, a control module, and a virtual reality. Environment module. The virtual reality module includes a virtual scene animation model installed on the computer device, a timely image device and a display or a head mounted display connected to the computer device, and the virtual scene animation model can simulate a horse moving visual effect and at least one The visual effect of the scene is displayed, and the image is output to the display for display by the computer device; the control module includes a speed sensing unit and a direction control unit connected to the computer device, and the speed sensing unit is used for detecting the riding simulator The swinging speed state and the detection message is transmitted back to the computer device, and then the computer device controls the horse moving speed of the virtual scene animation model, and the direction control unit is used to sense the left and right direction of the user, and will be left and right. The control signal of the direction is transmitted back to the computer device, and then the computer device controls the left and right movement directions of the horse of the virtual scene animation model, and the user (such as a cerebral palsy patient) sits on the riding simulator, and the upper body can be controlled by the autonomous operation. The position of the horse moving left and right, so as to feel the realistic riding effect, but more Participation interest of rehabilitation, horse pad pressure distribution and motion sensing module to catch up sensing module, supplemented by evaluation of the program but also scientific assessment of rehabilitation success.

The features and advantages of the present invention will be described in detail in conjunction with the accompanying drawings. The present invention is further described in detail, but does not limit the scope of the invention in any way.

Referring to the first to fourth figures, the present invention discloses a rehabilitation riding simulation system combined with a virtual reality, which is coupled with at least one computer device 6 including a riding simulator 1 and a control module. Group 2 and virtual reality module 3, motion capture sensing module 4.

The riding simulator 1 has a seat cushion 11 that can be swung according to at least one preset control command (program), and the seat cushion 11 can perform six freedoms such as horse 8-shaped swing, front-back tilt swing or horizontal movement according to preset control commands. Degree movement, and the swing speed can be controlled according to the preset control command.

(1) The control module 2 includes a base 21, a speed sensing unit 22, and a direction control unit 23. The speed sensing unit 22 is disposed on the base 21 and coupled to the computer device 6 for detecting the swing state of the seat cushion 11 of the riding simulator 1 and transmitting the detected message back to the computer device 6; The direction control unit 23 is disposed on the base 21 and coupled to the computer device 6 for sensing the left and right direction of the user and transmitting the control signals of the left and right directions to the computer device 6. In the first embodiment of the present invention, the base 21 can be provided with a horizontal steering link mechanism 211, and the horizontal steering link mechanism 211 is respectively provided with a first contact portion 2111 and a second contact portion 2112, and a horizontal steering link The mechanism 211 is respectively provided with control ropes 212 at the left and right ends thereof, so that the horizontal steering link mechanism 211 can be pulled by the control rope 212 to rotate in the left and right directions, and the base 21 is provided with an inclined surface 213 on the inclined surface 213. The speed sensing unit 22 is provided with a connecting line 221 and is connected to the seat cushion 11 of the riding simulator 1 so that the speed sensing unit 22 can be oscillated and displaced synchronously with the seat cushion 11 , and the speed sensing unit 22 It can be a position sensing device (such as a mouse or other device that can sense the spatial position); the direction control unit 23 can be a direction sensing controller (such as a game console controller or other device that can sense the direction), including The right turn control key 231 and the left turn control key 232 are opposite to each other, and the right turn control key 231 is relatively located on the moving path of the first contact portion 2111 of the horizontal steering link mechanism 211, and the left turn control key 232 is relatively horizontally connected. Rod mechanism 211 The second contact portion of the moving path 2112. Thereby, when the seat cushion 11 swings, the displacement of the speed sensing unit 22 can be synchronously pulled, and the speed sensing unit 22 is located on the rail portion 214 of the base 21 and can move forward and backward in a straight line, and is placed by using the slope and the gravity concept. The inner speed sensing unit 22 can slide along the track and connect it to the body of the riding machine, slide up and use the swinging pull-up of the riding machine, and slide down to no external force, when the horse swings faster, relative to The faster the speed sensing unit 22 slides, the faster the speed of the advancement is affected by the speed of the screen matching the horse swinging speed.

In addition, when the horizontal steering link mechanism 211 is pulled by the control rope 212 to rotate in the right direction, the first contact portion 2111 touches the right turn control key 231 of the direction control unit 23, and when the horizontal steering link mechanism 211 is controlled When the rope 212 is pulled and rotated in the left direction, the second contact portion 2112 touches the left turn control button 232 of the direction control unit 23, and the direction control unit 23 returns the left and right direction control signals to the computer device 6, The control that can be used by the direction control unit 23 to sense the user's left and right directions (pulling the control cord 212) is reached.

The virtual reality module 3 includes a virtual scene animation model and a display 31 (or a head mounted display device). The virtual scene animation model is installed and stored in the computer device 6, and the 3D drawing software can be used to construct a simulated horse movement. a visual effect and a situation of at least one scene visual effect of the scene; the display 31 is coupled to the computer device 6, and outputs the image of the virtual scene animation model to the display 31 via the computer device 6, and the display 31 is used to display the virtual The visual effect of the horse and the visual effect of the scene simulated by the scene animation model.

When the user (such as a cerebral palsy patient) sits on the riding simulator 1, the speed sensing unit 22 transmits back the information of the swinging state of the riding machine seat cushion 11 to the computer device 6, and then The speed of the swing speed of the seat cushion 11 is calculated by the computer device 6 according to the displacement frequency of the speed sensing unit 22, so as to relatively control the horse moving speed of the virtual scene animation model, so that the seat cushion 11 swings fast and slow and can be animated with the virtual scene. The movement speed of the horses of the model is matched; when the user is riding the riding simulator 1, the control ropes 212 are pulled by the left and right of the user to sense the left and right directions of the user by the direction control unit 23. And the control signals of the left and right directions are transmitted back to the computer device 6, and then the left and right movement directions of the horses of the virtual scene animation model are controlled by the computer device 6, so that the upper body of the user (such as a cerebral palsy patient) can be autonomously enabled. Manipulating the position of the left and right movements of the simulated horses, so as to feel the realistic riding effect, and then participate in the rehabilitation, and combined with the upper limb training, can drive The swing of the half body is enhanced and the balance ability is trained to enhance the overall rehabilitation of the upper and lower body of the user.

Referring to FIG. 5 again, the present invention may further include a motion capture sensing module 4 (such as a gyroscope acceleration gauge or a space motion capture device) and a pressure distribution sensing module 5. The motion capture sensing module 4 includes an analysis software and a plurality of motion sensors 41. The analysis software can be installed in the computer device 6, and the motion sensor 41 can sense an object's instantaneous angle change, angular acceleration, linear velocity, and acceleration. The change and the transmitted information can be wirelessly transmitted to the computer device 6, and the installed software can be calculated by the computer device 6 to calculate the value sensed by the motion sensor 41 for evaluating the rider. The limb movements can be instantly and visually fed back to the display device, allowing the rider to know the immediate limb position. The pressure distribution sensing module 5 includes an analysis software and at least one pressure sensing pad 51. The analysis software can be installed in the computer device 6, and the pressure sensing pad 51 can sense the pressure value, contact area and left and right of the rider. The front and rear center of gravity changes, and the sensed information can be transmitted to the computer device 6 in a wireless or wired manner, and the installed software can be calculated by the computer device 6 to calculate the value sensed by the pressure sensing pad 51. In the embodiment of the present invention, the plurality of motion sensors 41 of the motion capture sensing module 4 can be respectively installed on the head, the neck, the trunk and the upper limbs of the user, so as to measure the user. The amount of change in the angle of the head, the neck trunk and the upper limb portion when the horse is swaying; in addition, the plurality of motion sensors 41 can be respectively mounted on the seat cushion 11 of the riding simulator 1 and the bottom (fixed point) position thereof, thereby Reference value. The pressure sensing pad 51 of the pressure distribution sensing module 5 can be disposed on the seat cushion 11 of the riding simulator 1 to measure the average pressure, the maximum pressure value, the contact area, and the left and right, front and rear center of gravity of the user when riding the horse. Displacement changes. In this way, by using the data displayed by the motion capture sensing module 4 and the pressure distribution sensing module 5, the rehabilitation technician can be provided as a reference for evaluating the rehabilitation effect of the user (such as a cerebral palsy patient).

Furthermore, the speed sensing unit 22 and the direction control unit 23 can be connected to the computer device 6 in a wireless or wired manner, and the speed sensing unit 22 and the direction control unit 23 can transmit signals to the computer device 6 in a wireless or wired manner.

In summary, the technical feature of the present invention is to develop a training, evaluation, and rehabilitation simulation system for a virtual reality physical motion coordinated control with a safe and interesting performance by the riding simulator 1 in combination with the virtual 3D reality. The utility model mainly uses the riding simulator 1, the control module 2 and the virtual reality module 3 to cooperate with each other, so that the upper body of the user (such as a cerebral palsy patient) can independently control the position of the left and right movement of the simulated horse, thereby being felt. The realistic riding effect, and then the integration into the rehabilitation treatment, combined with the upper limb training, can also enhance the swing of the upper body and train its balance ability, in order to improve the overall rehabilitation of the upper and lower body of the user.

The detailed description of the present invention is intended to be illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. In the scope of patents.

1. . . Riding simulator

11. . . Seat cushion

2. . . Control module

twenty one. . . Pedestal

211. . . Horizontal steering linkage

2111. . . First contact

2112. . . Second contact

212. . . Control rope

213. . . Inclined surface

214. . . Rail section

twenty two. . . Speed sensing unit

221. . . Cable

twenty three. . . Direction control unit

231. . . Turn right control button

232. . . Left turn control

3. . . Virtual reality module

31. . . monitor

4. . . Motion capture sensor module

41. . . Motion sensor

5. . . Pressure distribution sensing module

51. . . Pressure sensing pad

6. . . Computer device

The first figure is a structural diagram of the rehabilitation riding simulation system of the present invention.

The second figure is a schematic diagram of an embodiment of the rehabilitation riding simulation system of the present invention.

The third figure is a partial enlarged view of the control module of the rehabilitation riding simulation system of the present invention.

The fourth figure is a schematic diagram of an embodiment of the use state of the rehabilitation riding simulation system of the present invention.

The fifth figure is a schematic diagram of another embodiment of the use state of the rehabilitation riding simulation system of the present invention.

1. . . Riding simulator

2. . . Control module

3. . . Virtual reality module

4. . . Motion capture sensor module

5. . . Pressure distribution sensing module

6. . . Computer device

Claims (5)

A rehabilitation riding simulation system combined with a virtual reality is coupled to at least one computer device, and the rehabilitation riding simulation system comprises: a riding simulator having a movement mechanism according to at least one preset control command; The module includes a speed sensing unit and a direction control unit. The speed sensing unit is coupled to the computer device for detecting the motion state of the riding simulator and transmitting the detected message to the The virtual device module includes a virtual scene animation, and the directional control unit is coupled to the computer device for controlling the direction of the user and transmitting the control signal of the direction to the computer device; a model and a display, the virtual scene animation model is installed on the computer device, which can simulate a horse moving visual effect and at least one landscape visual effect, the display device is coupled with the computer device to display the virtual The moving visual effect and the visual effect of the horse simulated by the scene animation model; and the riding is detected by the speed sensing unit The information of the swinging speed state is transmitted back to the computer device, and then the computer device controls the horse moving speed of the virtual scene animation model, and the direction control signal is transmitted back to the computer device by the direction control unit, and then The computer device controls the movement direction of the horse of the virtual scene animation model, so that the user can feel the realistic riding effect, thereby improving the overall rehabilitation effect of the upper body and the lower body of the user. The VR virtual riding simulation simulation system of claim 1, wherein the control module comprises a base, the base is provided with a steering linkage mechanism, and the linkage mechanism is operated by an operator. The reel is controlled in the direction; the base is provided with an inclined surface, and the inclined surface is provided with a rail portion; the speed sensing unit is provided with a connecting line and is connected to the seat cushion of the riding simulator, and the speed sensing unit can be located at the base The rail portion of the seat moves forward and backward in a straight line to reach the speed of the screen to match the swing speed of the horse and affects the speed of advancement; the direction control unit can be a controller including a right turn control button and a left turn control button, the right turn control The key system is located on the moving path of the first contact portion, and the left turn control key is relatively located on the moving path of the second contact portion. A virtual riding simulation system combined with a virtual reality as described in claim 2, wherein the speed sensing unit can be a mouse or a position sensor. The virtual riding simulation system combined with the virtual reality described in claim 1 further includes a motion capture sensing module, the motion capture sensing module comprising an analysis software and a plurality of motion sensors, the analysis The software can be installed in a computer device, and the motion sensor can sense the change of the instantaneous angle of the object, the angular acceleration, the linear velocity, and the acceleration, and can wirelessly transmit the sensed information to the computer device through the computer device. The analysis software installed by it is used to calculate the value sensed by the motion sensor. The VR simulation system of claim 1, wherein the pressure distribution sensing module comprises an analysis software and at least one pressure sensing pad, the analysis The soft body can be installed in a computer device, and the pressure sensing pad can sense an average pressure of an object, a maximum pressure value, a contact area, and a change in left and right front and rear center of gravity displacement, and can transmit the sensed information to the computer wirelessly or by wire. The device, through the computer device, causes the installed analysis software to calculate the value sensed by the pressure sensing pad.