Patent TW-202122136-A (TW)
Title: Exoskeleton system for rehabilitation training in collaboration between upper limb and lower limb on the basis of virtual reality and augmented reality
Inventor: LEE LIAN-WANG
IPC: A63B23/035
Filed: 2019-12-02
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.