WO2021190253A1 - 一种虚实场景融合的平衡障碍康复机器人 - Google Patents

一种虚实场景融合的平衡障碍康复机器人 Download PDF

Info

Publication number
WO2021190253A1
WO2021190253A1 PCT/CN2021/078568 CN2021078568W WO2021190253A1 WO 2021190253 A1 WO2021190253 A1 WO 2021190253A1 CN 2021078568 W CN2021078568 W CN 2021078568W WO 2021190253 A1 WO2021190253 A1 WO 2021190253A1
Authority
WO
WIPO (PCT)
Prior art keywords
virtual
follow
platform
balance
rehabilitation robot
Prior art date
Application number
PCT/CN2021/078568
Other languages
English (en)
French (fr)
Inventor
赵新刚
赵明
张道辉
张弼
褚亚奇
Original Assignee
中国科学院沈阳自动化研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院沈阳自动化研究所 filed Critical 中国科学院沈阳自动化研究所
Priority to US17/906,895 priority Critical patent/US20230166159A1/en
Publication of WO2021190253A1 publication Critical patent/WO2021190253A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
    • A63B26/003—Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • A61H2201/1673—Multidimensional rotation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5005—Control means thereof for controlling frequency distribution, modulation or interference of a driving signal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5025—Activation means
    • A61H2201/5028—Contact activation, i.e. activated at contact with a surface of the user to be treated
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B2022/0094—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for active rehabilitation, e.g. slow motion devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/009—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled in synchronism with visualising systems, e.g. hill slope

Definitions

  • the invention relates to medical rehabilitation training equipment, in particular to a balance disorder rehabilitation robot integrating virtual and real scenes.
  • Balance is a basic physiological function necessary for the human body to maintain various postures or movements, and it plays a vital role in daily behaviors. Decreased balance function increases the risk of falls in patients, and even leads to muscle atrophy or loss of joint mobility, which affects the quality of life.
  • the application of rehabilitation robot technology to carry out balance training to rebuild the patient's balance ability is the research direction in recent years, and it is gradually advancing in the direction of practicality and productization.
  • the current balance rehabilitation equipment is faced with problems such as a single training environment and insufficient personalization of rehabilitation training. It urgently needs to be further improved in terms of patient adaptability and experience, and the versatility of rehabilitation training modes.
  • the purpose of the present invention is to provide a balance disorder rehabilitation robot integrating virtual and actual scenes, so as to meet the diversified training and training scenes in the balance rehabilitation training and improve the effect of the rehabilitation training.
  • a balance obstacle rehabilitation robot with fusion of virtual and real scenes includes a follow-up support device, a weight-reduction protection device and a virtual projection device, wherein the follow-up support device is arranged at the center of the bottom surface of the weight-reduction protection device, and the follow-up support device is used for Follow the patient's balance training gait in real time; the weight loss protection device is used to follow the patient's center of gravity position in the balance rehabilitation training process in real time; the virtual projection device is arranged in front of the follower support device to present a virtual scene.
  • the follow-up support device includes a follow-up platform I, a follow-up platform II, and a support base, wherein the follow-up platform I and the follow-up platform II have a left-right mirror image symmetric structure and are installed in the support base.
  • Training protection railings are arranged on both sides of the supporting base, a slope board is installed at one end of the supporting base away from the virtual projection device, and slope railings are arranged on both sides of the slope board.
  • the follow-up platform I and the follow-up platform II have the same structure, and both include a position adjustment platform and an attitude adjustment platform provided on the position adjustment platform, and the attitude adjustment platform is used to adjust the overall posture and posture;
  • the position adjustment platform is used to adjust the height and front and rear positions of the attitude adjustment platform.
  • the attitude adjustment platform includes a pedal, a bottom plate, and a plurality of retractable branches.
  • the pedal is located above the bottom plate and is connected to the bottom plate through a plurality of retractable branches; the bottom plate and the position adjustment platform connect.
  • the telescopic branch chain includes an upper connecting rod and a lower connecting rod, wherein the upper end of the upper connecting rod is hinged with the pedal, the lower end is inserted and retractable with the upper end of the lower connecting rod, and the lower end of the lower connecting rod is connected with The bottom plate is hinged.
  • the position adjustment platform includes a translation table, a lead screw I, a pulley I, a pulley II, and a transmission belt, wherein the pulley I and the pulley II are arranged on the support base front and rear and are rotatable, and the transmission belt is wound around the belt Wheel I and pulley II; the translation table is fixed on the transmission belt, the lead screw I is arranged on the translation table in the vertical direction, and is threadedly connected with the attitude adjustment platform, and passes through the wire Bar I can adjust the height of the attitude adjustment platform.
  • the weight reduction protection device includes a support frame, a beam, a sliding platform and a suspension, wherein the beam is arranged on the upper part of the support frame and can slide in the front and rear directions, and the sliding platform is arranged on the beam and can slide in the left and right directions,
  • the suspension frame is connected with the sliding table, and is used for connecting with the suspension strap.
  • the support frame is provided with a screw rod II along the front and rear direction, the screw rod II is connected with the cross beam, and the screw rod II is used to adjust the position of the cross beam in the front and rear direction.
  • the virtual projection device includes a virtual projection screen and a motion capture lens set on the virtual projection screen, the virtual projection screen is a curved screen, and the motion capture lens is arranged in multiple points to capture the patient's balance Limb movements during rehabilitation training.
  • the present invention can simulate training scenes such as flat roads, steps, slopes, etc., and realize the recurrence of multiple sports scenes on the physical senses.
  • the follow-up platform of the present invention does not restrict the patient's ankle movement, does not hinder the patient's subjective movement, and improves the patient's sense of participation in training.
  • the present invention projects the virtual scene onto the screen through the virtual projection device, and adjusts the follow-up platform to keep the movement consistent with the virtual scene, thereby organically combining the virtual scene and the physical scene, and enhancing the immersion of balance rehabilitation training.
  • Fig. 1 is a schematic structural diagram of a balance disorder rehabilitation robot integrated with virtual and real scenes according to the present invention
  • Figure 2 is a schematic diagram of the structure of the follow-up support device of the present invention.
  • Figure 3 is a schematic diagram of the structure of the follow-up platform in the present invention.
  • Figure 4 is a schematic diagram of the structure of the weight loss protection device of the present invention.
  • Fig. 5 is a schematic diagram of the structure of the virtual projection device in the present invention.
  • 1 is a follow-up support device
  • 2 is a weight reduction protection device
  • 3 is a virtual projection device
  • 11 is a follow-up platform I
  • 12 is a follow-up platform II
  • 13 is a support base
  • 14 is a training protection railing
  • 15 is a virtual projection device.
  • Slope board 16 is slope railing, 111 is attitude adjustment platform, 112 is position adjustment platform, 1111 is pedal, 1112 is upper connecting rod, 1113 is lower connecting rod, 1114 is bottom plate, 1121 is translation platform, 1122 is screw I , 1123 is the pulley I, 1124 is the pulley II, 1125 is the transmission belt, 21 is the support frame, 22 is the beam, 23 is the sliding table, 24 is the suspension, 211 is the lead screw II, 241 is the suspension strap, 31 It is a virtual projection screen, and 32 is a motion capture lens.
  • the present invention provides a balance obstacle rehabilitation robot integrating virtual and real scenes, including a follow-up support device 1, a weight reduction protection device 2, and a virtual projection device 3.
  • the follow-up support device 1 is arranged on At the center of the bottom surface of the device 2, the follow-up support device 1 is used to follow the patient's balance training gait in real time; the weight loss protection device 2 is used to follow the patient's center of gravity position in real time during the balance rehabilitation training; the virtual projection device 3 is arranged in the free
  • the front of the movable support device 1 is used to present a virtual scene.
  • the virtual projection device 3 is arranged 5-8 meters in front of the follower support device 1.
  • the follow-up support device 1 includes a follow-up platform I11, a follow-up platform II12, and a support base 13, wherein the follow-up platform I11 and the follow-up platform II12 have a left-right mirror image symmetrical structure and are installed in the support base 13.
  • training protection railings 14 are arranged on both sides of the support base 13 to ensure the safety of training.
  • a slope board 15 is installed at one end of the supporting base 13 away from the virtual projection device 3 to facilitate guiding the patient into the following platform I11 and the following platform II12.
  • Slope railings 16 are arranged on both sides of the ramp board 15 to ensure the safety of the patient walking on the ramp board 14.
  • the following platform I11 and the following platform II12 have the same structure, and both include a position adjustment platform 112 and an attitude adjustment platform 111 arranged on the position adjustment platform 112.
  • the attitude adjustment platform 111 is used to adjust the overall posture and posture;
  • the position adjustment platform 112 is used to adjust the height and front and rear positions of the posture adjustment platform 111.
  • the attitude adjustment platform 111 includes a pedal 1111, a bottom plate 1114 and a plurality of retractable branches.
  • the pedal 1111 is located above the bottom plate 1114 and is connected to the bottom plate 1114 through the plurality of retractable branches; the bottom plate 1114 is connected to the position adjustment platform 112.
  • the retractable branch chain includes an upper connecting rod 1112 and a lower connecting rod 1113.
  • the upper end of the upper connecting rod 1112 is hinged with the pedal 1111, and the lower end is inserted and retractable with the upper end of the lower connecting rod 1113.
  • the lower end of the lower connecting rod 1113 is connected to the bottom plate 1114. Articulated.
  • By arranging multiple retractable branches to form a parallel structure by adjusting the relative position between the upper connecting rod 1112 and the lower connecting rod 1113 in each of the retractable branches, the angle of the pedal 1111 relative to the bottom plate 1114 can be changed in various directions. Thereby, the posture of the pedal 1111 is adjusted.
  • the upper surface of the pedal 1111 is an open structure, and during the balance rehabilitation training process, the movement of the patient's ankle is not restricted.
  • the position adjustment platform 112 includes a translation table 1121, a lead screw I 1122, a pulley I 1123, a pulley II 1124, and a transmission belt 1125.
  • the pulley I 1123 and the pulley II 1124 are arranged on the support base 13 front and rear and are rotatable.
  • the transmission belt 1125 is wound around the pulley I 1123 and Pulley II 1124; translation table 1121 is fixed on the transmission belt 1125, screw I 1122 is arranged on the translation table 1121 in the vertical direction, and is threadedly connected with the attitude adjustment platform 111, and the height of the attitude adjustment platform 111 can be adjusted by the screw I 1122.
  • the transmission belt 1125 moves, and the transmission belt 1125 drives the translation table 1121 to move synchronously to realize the front and back displacement of the translation table 1121.
  • This movement is transmitted to the attitude adjustment platform 111 via the lead screw I 1122, and the front and rear positions of the attitude adjustment platform 111 in the support base 13 are adjusted.
  • the weight reduction protection device 2 includes a support frame 21, a cross beam 22, a sliding table 23 and a suspension 24.
  • the cross beam 22 is arranged on the upper part of the support frame 21 and can slide in the front and rear directions, and the sliding table 23 is arranged on the cross beam.
  • the suspension frame 24 is connected to the sliding table 23 for connecting with the suspension strap 241. The patient is suspended by the suspension strap 241, which can reduce the weight of the patient during the rehabilitation training process.
  • the support frame 21 is provided with a screw rod II 211 along the front-rear direction, the screw rod II 211 is connected to the cross beam 22, and the screw rod II 211 is used to adjust the position of the cross beam 22 in the front-rear direction.
  • the virtual projection device 3 includes a virtual projection screen 31 and a motion capture lens 32 arranged on the virtual projection screen 31.
  • the virtual projection screen 31 is a curved screen for presenting a virtual scene.
  • the motion capture lens 32 is arranged in multiple points, and is used to capture the movement of the patient's limbs during the balance rehabilitation training.
  • the present invention captures the patient’s limb movements in the balance rehabilitation training process through the multi-point arrangement of motion capture lenses 32, adjusts the posture adjustment platform 111 and the position adjustment platform 112 in real time, and realizes the posture and position of the follower platform I11 and the follower platform II12
  • the adjustment enables it to follow the patient's balance training gait in real time, and the various angles of the pedal 1111 can be adjusted through the posture adjustment platform 111 to simulate balance rehabilitation training scenarios such as flat roads, steps, and slopes.
  • the weight loss protection device 2 uses the movable beam 22 and the sliding table 23 to follow the patient's center of gravity position in the balance rehabilitation training process in real time, so that the suspension 24 is kept vertical to the ground and prevents it from causing lateral interference to the patient.
  • the virtual projection screen 31 displays a virtual scene and combines it with the physical scene simulated by the pedal 1111 in real time.
  • the invention is suitable for patients who need to perform balance function rehabilitation.
  • By combining multiple physical simulation training scenes with projected virtual scenes in real time the immersion in the balance rehabilitation training process is enhanced.
  • the movement of the patient's ankle is not restricted during the training process, and the patient's training participation is provided.

Abstract

本发明涉及医用康复训练设备，特别涉及一种虚实场景融合的平衡障碍康复机器人。包括随动支撑装置、减重保护装置及虚拟投影装置，其中随动支撑装置布置在减重保护装置的底面中央位置，随动支撑装置用于实时跟随患者的平衡训练步态；减重保护装置用于实时跟随患者在平衡康复训练过程中的重心位置；虚拟投影装置布置于随动支撑装置的前方，用以呈现虚拟场景。本发明通过控制随动平台的姿态与位置，以实现多种运动场景的物理感复现，结合投射的虚拟场景，将物理场景与虚拟场景有机结合，保证了多样化的平衡康复训练环境。

Description

一种虚实场景融合的平衡障碍康复机器人 技术领域
本发明涉及医用康复训练设备，特别涉及一种虚实场景融合的平衡障碍康复机器人。
背景技术
平衡是人体维持各种姿态或动作所必备的一项基本生理机能，在日常行为活动中起着至关重要的作用。平衡功能下降增加患者跌倒风险，甚至导致肌肉萎缩或关节活动度丧失，影响生活质量。应用康复机器人技术开展平衡训练以重建患者平衡能力是近年来的研究方向，并逐渐向实用化、产品化方向推进。而当前的平衡康复设备面临着训练环境单一、康复训练个性化不足等问题，在患者适应性与体验感、康复训练模式通用性等方面亟待进一步提升。
发明内容
针对上述问题，本发明的目的在于提供一种虚实场景融合的平衡障碍康复机器人，以满足在平衡康复训练中多样化的训练训练场景，提高康复训练效果。
为了实现上述目的，本发明采用以下技术方案：
一种虚实场景融合的平衡障碍康复机器人，包括随动支撑装置、减重保护装置及虚拟投影装置，其中随动支撑装置布置在减重保护装置的底面中央位置，所述随动支撑装置用于实时跟随患者的平衡训练步态；所述减重保护装置用于实时跟随患者在平衡康复训练过程中的重心位置；所述虚拟投影装置布置于随动支撑装置的前方，用以呈现虚拟场景。
所述随动支撑装置包括随动平台Ⅰ、随动平台Ⅱ、支撑底座，其中随动平台Ⅰ与随动平台Ⅱ为左右镜像对称结构，且安装于支撑底座内。
所述支撑底座的两侧安置有训练保护栏杆，所述支撑底座远离所述虚拟投影装置的一端安装斜坡板，所述斜坡板的两侧安置斜坡栏杆。
所述随动平台Ⅰ和所述随动平台Ⅱ结构相同，均包括位置调节平台及设置于所述位置调节平台上的姿态调节平台，所述姿态调节平台用于调整整体位姿姿态；所述位置调节平台用于调整所述姿态调节平台的高度及前后位置。
所述姿态调节平台包括踏板、底板及多个可伸缩支链，所述踏板位于所述底板的上方，并且通过多个可伸缩支链与所述底板连接；所述底板与所述位置调节平台连接。
所述可伸缩支链包括上连接杆和下连接杆，其中上连接杆的上端与所述踏板铰接，下端与所述下连接杆的上端插接且可伸缩，所述下连接杆的下端与所述底板铰接。
所述位置调节平台包括平移台、丝杠Ⅰ、带轮Ⅰ、带轮Ⅱ及传动带，其中带轮Ⅰ和带轮Ⅱ前后设置所述支撑底座上且可转动，所述传动带缠绕于所述带轮Ⅰ和带轮Ⅱ上；所述平移台固定在所述传动带上，所述丝杠Ⅰ沿竖直方向设置于所述平移台上，并且与所述姿态调节平台螺纹连接，通过所述丝杠Ⅰ可调整所述姿态调节平台的高度。
所述减重保护装置包括支撑架、横梁、滑动台及悬架，其中横梁设置于支撑架的上部且可沿前后方向滑动，所述滑动台设置于所述横梁上且可沿左右方向滑动，所述悬架与滑动台连接，用于与悬吊绑带连接。
所述支撑架上沿前后方向设有丝杠Ⅱ，所述丝杠Ⅱ与所述横梁连接，所述丝杠Ⅱ用于调节所述横梁前后方向的位置。
所述虚拟投影装置包括虚拟投影屏幕及设置于所述虚拟投影屏幕上的动作捕捉镜头，所述虚拟投影屏幕为曲面型屏，所述动作捕捉镜头呈多点排布，用于捕捉患者在平衡康复训练过程中的肢体动作。
本发明的优点与积极效果为：
1.本发明通过调节随动平台的角度与移动位置，可模拟平路、台阶、坡路等训练场景，在物理感官上，实现多种运动场景的复现。
2.本发明的随动平台不限制患者的脚踝运动，不妨碍患者的主观运动，提高患者的训练参与感。
3.本发明通过虚拟投影装置将虚拟场景投射到屏幕中，并调节随动平台与虚拟场景之间保持运动一致，从而将虚拟场景与物理场景有机结合，增强平衡康复训练的沉浸感。
附图说明
图1是本发明虚实场景融合的平衡障碍康复机器人的结构示意图；
图2是本发明中随动支撑装置的结构示意图；
图3是本发明中随动平台的结构示意图；
图4是本发明中减重保护装置的结构示意图；
图5是本发明中虚拟投影装置的结构示意图。
图中：1为随动支撑装置，2为减重保护装置，3为虚拟投影装置，11为随动平台Ⅰ，12为随动平台Ⅱ，13为支撑底座，14为训练保护栏杆，15为斜坡板，16为斜坡栏杆，111为姿态调节平台，112为位置调节平台，1111为踏板，1112为上连接杆，1113为下连接杆，1114为底板，1121为平移台，1122为丝杠Ⅰ，1123为带轮Ⅰ，1124为带轮Ⅱ，1125为传动带，21为支撑架，22为横梁，23为滑动台，24为悬架，211为丝杠Ⅱ，241为悬吊绑带，31为虚拟投影屏幕，32为动作捕捉镜头。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对本发明进行详细描述。
如图1所示，本发明提供的一种虚实场景融合的平衡障碍康复机器人，包括随动支撑装置1、减重保护装置2及虚拟投影装置3，其中随动支撑装置1布置在减重保护装置2的底面中央位置，随动支撑装置1用于实时跟随患者的平衡训练步态；减重保护装置2用于实时跟随患者在平衡康复训练过程中的重心位置；虚拟投影装置3布置于随动支撑装置1的前方，用以呈现虚拟场景。
进一步地，虚拟投影装置3布置于随动支撑装置1前方5-8米处。
如图2所示，随动支撑装置1包括随动平台Ⅰ11、随动平台Ⅱ12、支撑底座13，其中随动平台Ⅰ11与随动平台Ⅱ12为左右镜像对称结构，且安装于支撑底座13内。
进一步地，支撑底座13的两侧安置有训练保护栏杆14，用以保证训练的安全。支撑底座13远离虚拟投影装置3的一端安装斜坡板15，便于引导患者进入到随动平台Ⅰ11与随动平台Ⅱ12中。斜坡板15的两侧安置斜坡栏杆16，保证患者步行在斜坡板14上的安全。
如图3所示，随动平台Ⅰ11和随动平台Ⅱ12结构相同，均包括位置调节平台112及设置于位置调节平台112上的姿态调节平台111，姿态调节平台111 用于调整整体位姿姿态；位置调节平台112用于调整姿态调节平台111的高度及前后位置。
姿态调节平台111包括踏板1111、底板1114及多个可伸缩支链，踏板1111位于底板1114的上方，并且通过多个可伸缩支链与底板1114连接；底板1114与位置调节平台112连接。
可伸缩支链包括上连接杆1112和下连接杆1113，其中上连接杆1112的上端与踏板1111铰接，下端与下连接杆1113的上端插接且可伸缩，下连接杆1113的下端与底板1114铰接。通过布置多个可伸缩支链，形成一并联结构，通过调整各可伸缩支链中上连接杆1112与下连接杆1113之间的相对位置，可实现踏板1111相对底板1114的各方向角度变化，从而调整踏板1111的姿态。踏板1111上表面为开放式结构，在平衡康复训练过程中，不限制患者脚踝的运动。
位置调节平台112包括平移台1121、丝杠Ⅰ1122、带轮Ⅰ1123、带轮Ⅱ1124及传动带1125，其中带轮Ⅰ1123和带轮Ⅱ1124前后设置支撑底座13上且可转动，传动带1125缠绕于带轮Ⅰ1123和带轮Ⅱ1124上；平移台1121固定在传动带1125上，丝杠Ⅰ1122沿竖直方向设置于平移台1121上，并且与姿态调节平台111螺纹连接，通过丝杠Ⅰ1122可调整姿态调节平台111的高度。当带轮Ⅰ1123或带轮Ⅱ1124转动时，使得传动带1125运动，传动带1125从而带动平移台1121同步运动，实现平移台1121的前后位移。该运动经由丝杠Ⅰ1122传递到姿态调节平台111，调整姿态调节平台111在支撑底座13中的前后位置。
如图4所示，减重保护装置2包括支撑架21、横梁22、滑动台23及悬架24，其中横梁22设置于支撑架21的上部且可沿前后方向滑动，滑动台23设置于横梁22上且可沿左右方向滑动，悬架24与滑动台23连接，用于与悬吊绑带241连接。通过悬吊绑带241将患者悬吊，可减少患者在康复训练过程中的负重。
支撑架21上沿前后方向设有丝杠Ⅱ211，丝杠Ⅱ211与横梁22连接，丝杠Ⅱ211用于调节横梁22前后方向的位置。
如图5所示，虚拟投影装置3包括虚拟投影屏幕31及设置于虚拟投影屏幕31上的动作捕捉镜头32，虚拟投影屏幕31为曲面型屏，用以呈现虚拟场景。动作捕捉镜头32呈多点排布，用于捕捉患者在平衡康复训练过程中的肢体动 作。
本发明通过多点排布的动作捕捉镜头32捕捉患者在平衡康复训练过程中的肢体动作，实时调整姿态调节平台111与位置调节平台112，实现随动平台Ⅰ11与随动平台Ⅱ12的姿态与位置调整，使其能够实时跟随患者的平衡训练步态，并且通过姿态调节平台111可调整踏板1111的各向角度，模拟平路、台阶、坡路等平衡康复训练场景。减重保护装置2通过可移动的横梁22与滑动台23，实时跟随患者在平衡康复训练过程中的重心位置，使悬架24保持与地面垂直，防止其对患者产生侧向干扰。虚拟投影屏幕31显示虚拟场景，并与通过踏板1111模拟的物理场景实时结合。
本发明适用于需进行平衡功能康复的患者，其通过将物理模拟的多种训练场景与投射的虚拟场景实时结合，增强了平衡康复训练过程的沉浸感。同时，在训练过程中不限制患者脚踝的运动，提供患者的训练参与度。
以上所述仅为本发明的实施方式，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进、扩展等，均包含在本发明的保护范围内。

Claims (10)

  1. 一种虚实场景融合的平衡障碍康复机器人，其特征在于，包括随动支撑装置(1)、减重保护装置(2)及虚拟投影装置(3)，其中随动支撑装置(1)布置在减重保护装置(2)的底面中央位置，所述随动支撑装置(1)用于实时跟随患者的平衡训练步态；所述减重保护装置(2)用于实时跟随患者在平衡康复训练过程中的重心位置；所述虚拟投影装置(3)布置于随动支撑装置(1)的前方，用以呈现虚拟场景。
  2. 根据权利要求1所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述随动支撑装置(1)包括随动平台Ⅰ(11)、随动平台Ⅱ(12)、支撑底座(13)，其中随动平台Ⅰ(11)与随动平台Ⅱ(12)为左右镜像对称结构，且安装于支撑底座(13)内。
  3. 根据权利要求2所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述支撑底座(13)的两侧安置有训练保护栏杆(14)，所述支撑底座(13)远离所述虚拟投影装置(3)的一端安装斜坡板(15)，所述斜坡板(15)的两侧安置斜坡栏杆(16)。
  4. 根据权利要求2所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述随动平台Ⅰ(11)和所述随动平台Ⅱ(12)结构相同，均包括位置调节平台(112)及设置于所述位置调节平台(112)上的姿态调节平台(111)，所述姿态调节平台(111)用于调整整体位姿姿态；所述位置调节平台(112)用于调整所述姿态调节平台(111)的高度及前后位置。
  5. 根据权利要求4所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述姿态调节平台(111)包括踏板(1111)、底板(1114)及多个可伸缩支链，所述踏板(1111)位于所述底板(1114)的上方，并且通过多个可伸缩支链与所述底板(1114)连接；所述底板(1114)与所述位置调节平台(112)连接。
  6. 根据权利要求5所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述可伸缩支链包括上连接杆(1112)和下连接杆(1113)，其中上连接杆(1112)的上端与所述踏板(1111)铰接，下端与所述下连接杆(1113)的上端插接且可伸缩，所述下连接杆(1113)的下端与所述底板(1114)铰接。
  7. 根据权利要求4所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述位置调节平台(112)包括平移台(1121)、丝杠Ⅰ(1122)、带轮Ⅰ(1123)、带轮Ⅱ(1124)及传动带(1125)，其中带轮Ⅰ(1123)和带轮Ⅱ(1124)前后设置所述支撑底座(13)上且可转动，所述传动带(1125)缠绕于所述带轮Ⅰ(1123)和带轮Ⅱ(1124)上；所述平移台(1121)固定在所述传动带(1125)上，所述丝杠Ⅰ(1122)沿竖直方向设置于所述平移台(1121)上，并且与所述姿态调节平台(111)螺纹连接，通过所述丝杠Ⅰ(1122)可调整所述姿态调节平台(111)的高度。
  8. 根据权利要求1所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述减重保护装置(2)包括支撑架(21)、横梁(22)、滑动台(23)及悬架(24)，其中横梁(22)设置于支撑架(21)的上部且可沿前后方向滑动，所述滑动台(23)设置于所述横梁(22)上且可沿左右方向滑动，所述悬架(24)与滑动台(23)连接，用于与悬吊绑带(241)连接。
  9. 根据权利要求8所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述支撑架(21)上沿前后方向设有丝杠Ⅱ(211)，所述丝杠Ⅱ(211)与所述横梁(22)连接，所述丝杠Ⅱ(211)用于调节所述横梁(22)前后方向的位置。
  10. 根据权利要求1所述的虚实场景融合的平衡障碍康复机器人，其特征在于，所述虚拟投影装置(3)包括虚拟投影屏幕(31)及设置于所述虚拟投影屏幕(31)上的动作捕捉镜头(32)，所述虚拟投影屏幕(31)为曲面型屏，所述动作捕捉镜头(32)呈多点排布，用于捕捉患者在平衡康复训练过程中的肢体动作。
PCT/CN2021/078568 2020-03-23 2021-03-02 一种虚实场景融合的平衡障碍康复机器人 WO2021190253A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/906,895 US20230166159A1 (en) 2020-03-23 2021-03-02 Balance disorder rehabilitation robot based on virtual and real scene fusion

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010206151.8 2020-03-23
CN202010206151.8A CN111265828A (zh) 2020-03-23 2020-03-23 一种虚实场景融合的平衡障碍康复机器人

Publications (1)

Publication Number Publication Date
WO2021190253A1 true WO2021190253A1 (zh) 2021-09-30

Family

ID=70991884

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/078568 WO2021190253A1 (zh) 2020-03-23 2021-03-02 一种虚实场景融合的平衡障碍康复机器人

Country Status (3)

Country Link
US (1) US20230166159A1 (zh)
CN (1) CN111265828A (zh)
WO (1) WO2021190253A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111265828A (zh) * 2020-03-23 2020-06-12 中国科学院沈阳自动化研究所 一种虚实场景融合的平衡障碍康复机器人
CN112957691B (zh) * 2021-02-04 2022-04-26 哈尔滨工业大学 融合人体深感觉与前庭觉的体感模拟并联运动平台
CN113274697B (zh) * 2021-07-05 2021-10-08 上海卓道医疗科技有限公司 智能踏步训练设备
CN113975099A (zh) * 2021-11-25 2022-01-28 北京航空航天大学 一种踏板式步态矫正与本体感觉训练平台

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006035715A1 (de) * 2006-08-01 2008-02-07 Schmidt, Henning, Dipl.-Ing. Robotergestützter Laufsimulator
US20110256983A1 (en) * 2009-12-04 2011-10-20 Joseph Malack Virtual ankle and balance trainer system
CN102225033A (zh) * 2011-04-25 2011-10-26 中国科学院合肥物质科学研究院 一种步态康复训练机器人
US20110312473A1 (en) * 2005-04-28 2011-12-22 Simbex Llc Training system and method using a dynamic perturbation platform
CN102671341A (zh) * 2012-05-30 2012-09-19 华南理工大学 一种下肢智能康复训练装置
DE102013101926A1 (de) * 2013-02-27 2014-08-28 Inreal Technologies GmbH Vorrichtung zur Abbildung einer Laufbewegung in einen virtuellen Raum
CN106669117A (zh) * 2017-03-20 2017-05-17 广州龙之杰科技有限公司 一种动静态平衡训练器
CN106823287A (zh) * 2017-03-08 2017-06-13 安阳市翔宇医疗设备有限责任公司 一种康复训练用升降阶梯
US9763604B1 (en) * 2016-04-09 2017-09-19 Bertec Corporation Gait perturbation system and a method for testing and/or training a subject using the same
CN107184374A (zh) * 2017-07-17 2017-09-22 广州晓康医疗科技有限公司 一种步行康复训练和评测设备
CN107213599A (zh) * 2016-03-21 2017-09-29 广州兴龙智慧医疗科技有限公司 一种平衡康复训练系统
CN107961496A (zh) * 2017-11-20 2018-04-27 中国科学院宁波材料技术与工程研究所 行走平衡训练设备和方法
CN108324254A (zh) * 2018-04-08 2018-07-27 曹福成 双模态视觉反馈动静态平衡训练装置
CN108578985A (zh) * 2018-06-26 2018-09-28 跑视界（北京）体育发展有限公司 一种调节跑步机多自由度运动的装置，方法及跑步机
CN111265828A (zh) * 2020-03-23 2020-06-12 中国科学院沈阳自动化研究所 一种虚实场景融合的平衡障碍康复机器人
CN212141374U (zh) * 2020-03-23 2020-12-15 中国科学院沈阳自动化研究所 虚实场景融合的平衡障碍康复机器人

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110312473A1 (en) * 2005-04-28 2011-12-22 Simbex Llc Training system and method using a dynamic perturbation platform
DE102006035715A1 (de) * 2006-08-01 2008-02-07 Schmidt, Henning, Dipl.-Ing. Robotergestützter Laufsimulator
US20110256983A1 (en) * 2009-12-04 2011-10-20 Joseph Malack Virtual ankle and balance trainer system
CN102225033A (zh) * 2011-04-25 2011-10-26 中国科学院合肥物质科学研究院 一种步态康复训练机器人
CN102671341A (zh) * 2012-05-30 2012-09-19 华南理工大学 一种下肢智能康复训练装置
DE102013101926A1 (de) * 2013-02-27 2014-08-28 Inreal Technologies GmbH Vorrichtung zur Abbildung einer Laufbewegung in einen virtuellen Raum
CN107213599A (zh) * 2016-03-21 2017-09-29 广州兴龙智慧医疗科技有限公司 一种平衡康复训练系统
US9763604B1 (en) * 2016-04-09 2017-09-19 Bertec Corporation Gait perturbation system and a method for testing and/or training a subject using the same
CN106823287A (zh) * 2017-03-08 2017-06-13 安阳市翔宇医疗设备有限责任公司 一种康复训练用升降阶梯
CN106669117A (zh) * 2017-03-20 2017-05-17 广州龙之杰科技有限公司 一种动静态平衡训练器
CN107184374A (zh) * 2017-07-17 2017-09-22 广州晓康医疗科技有限公司 一种步行康复训练和评测设备
CN107961496A (zh) * 2017-11-20 2018-04-27 中国科学院宁波材料技术与工程研究所 行走平衡训练设备和方法
CN108324254A (zh) * 2018-04-08 2018-07-27 曹福成 双模态视觉反馈动静态平衡训练装置
CN108578985A (zh) * 2018-06-26 2018-09-28 跑视界（北京）体育发展有限公司 一种调节跑步机多自由度运动的装置，方法及跑步机
CN111265828A (zh) * 2020-03-23 2020-06-12 中国科学院沈阳自动化研究所 一种虚实场景融合的平衡障碍康复机器人
CN212141374U (zh) * 2020-03-23 2020-12-15 中国科学院沈阳自动化研究所 虚实场景融合的平衡障碍康复机器人

Also Published As

Publication number Publication date
US20230166159A1 (en) 2023-06-01
CN111265828A (zh) 2020-06-12

Similar Documents

Publication Publication Date Title
WO2021190253A1 (zh) 一种虚实场景融合的平衡障碍康复机器人
CN212141374U (zh) 虚实场景融合的平衡障碍康复机器人
US10596405B2 (en) Device for controlling the training and the therapeutic treatment and/or for supporting the lower extremities of a human
US8851897B1 (en) Method and device for gravity like simulation of natural balance movements
US4156512A (en) Equipment support system
CA2464128C (en) Closed-loop force controlled body weight support system
USRE32213E (en) Equipment for use with hand held motion picture cameras
Redfern et al. A model of foot placement during gait
KR101289005B1 (ko) 보행 훈련 장치
CN105392461A (zh) 用于自动行走训练的设备
CN101972196A (zh) 一种多体位下肢运动康复机
Frost et al. Sensorimotor control of gait: a novel approach for the study of the interplay of visual and proprioceptive feedback
Ichinose et al. A robotic device for measuring and controlling pelvic motion during locomotor rehabilitation
CN107132911A (zh) 基于虚拟现实万向行走器的运动光学检测设备
US10898753B2 (en) Treadmills having adjustable surface stiffness
RU109979U1 (ru) Многофункциональный спортивный тренажер
CN208770776U (zh) 一种悬空的辅助爬行的室内爬行机
KR101778086B1 (ko) 사람의 평소 습관을 능동적으로 대응하게 하는 다축의 체간운동부가 구비된 중증 장애자용 보행 재활 장치
KR101887878B1 (ko) 안전장치가 구비된 중증 장애자용 보행 재활 장치
CN207654596U (zh) 一种用于患者下肢康复训练的减重支撑系统
GB1589062A (en) Support structure
CN111544255B (zh) 一种智能康复机器人
CN105943317B (zh) 一种助力型外骨骼随行装置
KR101522979B1 (ko) 보행 훈련을 위한 로봇슈트 트레드밀 시스템
KR102623222B1 (ko) 3차원 구동 트레드밀 및 이를 포함하는 메타버스 시스템

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21774101

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21774101

Country of ref document: EP

Kind code of ref document: A1