Lower limb rehabilitation training robot system based on virtual reality

Abstract

The invention discloses a lower limb rehabilitation training robot system based on virtual reality, which comprises a virtual interaction scene module, a physiological parameter acquisition module, a man-machine interaction module, a control module and a lower limb rehabilitation training robot, wherein the virtual interaction scene module simulates motion of a virtual person in a virtual scene and calculates an interaction force between the virtual person and a virtual environment; the man-machine interaction module displays and transmits physiological parameters of a patient, a motion state of the lower limb rehabilitation training robot and the acting forces of the patient in all directions to the control module; the control module generates and issues a control instruction; and the lower limb rehabilitation training robot is responsible for force feedback output under an active rehabilitation condition and traction of the patient for rehabilitation training under a passive rehabilitation training condition. According to the system, simpler virtual scene interaction is achieved by establishing a virtual person model; a real-time and friendly virtual scene interaction system with feedback of a visual sense, an auditory sense and a touch sense is provided for the rehabilitation training robot; and the patient is encouraged to actively perform rehabilitation training.

Description

technical field [0001] The invention relates to lower limb rehabilitation training robot technology, in particular to a lower limb rehabilitation training robot system based on virtual reality. Background technique [0002] Rehabilitation training robot is a combination of rehabilitation medical engineering and robotics engineering, and has become an interdisciplinary cutting-edge technology and research hotspot. With the advancement of science and technology, the single-function rehabilitation training robot can no longer meet the various needs of the growing rehabilitation training, and the rehabilitation training robot system with more powerful functions has become a new development direction of rehabilitation robots. Robot-assisted training, as a rising intelligent rehabilitation technology in the past ten years, has been widely valued by developed countries. [0003] Rehabilitation training robots can not only liberate physical therapists from the one-to-one or even ma...

AI Technical Summary

Problems solved by technology

[0004] However, most of the existing rehabilitation training robot systems lack the ability of scene interaction, which is not conducive to patients' active participation in rehabilitation training, while most of the rehabilitation training robot systems with scene interaction are simple visual and auditory feedback, which is not enough to give Patients bring a realistic sense of immersion and interactive experience, and in order to collect human body movement information, it is often necessary for patients to wear a lot of sensor devices, which will cause patients' psychological resistance and physical discomfort, so that they cannot better motivate patients to take the initiative. rehabilitation training

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