Virtual reality rehabilitation clothes

Abstract

The invention relates to the field of virtual reality rehabilitation equipment, and provides a virtual reality rehabilitation garment, which comprises a human-shaped wearing main body for completely sealing a patient in the human-shaped wearing main body after the patient wears the virtual reality rehabilitation garment; the exoskeleton movement module is arranged on the human-shaped wearing main body and at least covers a target movement part involved in the training task scene; the sensory stimulation module, the physiological signal monitoring module and the central control module are integrally arranged or externally arranged on the human-shaped wearing main body; the central control module is used for controlling the sensory stimulation module to output environmental factors based on training task scenes pre-stored or received by individual differences of rehabilitation patients, and is used for controlling the exoskeleton movement module to assist the patients in training or increase movement damping based on the training task scenes or physiological signals received in real time. The adjusting module is used for adjusting the environmental factors output by the sensory stimulation module based on the physiological signals received in real time so as to adjust a training task scene, and dynamic interaction between the physical condition of the patient and the scene is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of virtual reality rehabilitation equipment, and in particular to a virtual reality rehabilitation suit. Background Art

[0002] Existing virtual reality (VR) rehabilitation equipment often faces some technical limitations during rehabilitation treatment.

[0003] First, existing virtual reality rehabilitation devices are limited in their ability to simulate environmental factors. They are only capable of simulating scenarios and are unable to address environmental factors that are inherently effective in rehabilitation. For example, they cannot simulate environmental factors such as hyperbaric oxygen chambers, temperature chambers, pressure chambers, and medical gas supply equipment within virtual reality rehabilitation scenarios, thereby regulating patient metabolism through factors such as air pressure, light, and temperature. Existing virtual reality devices are separate systems from these equipment, making them incapable of fully replacing these devices. In terms of rehabilitation architecture, existing rehabilitation training systems employ a linear, three-step structure: "assessment-training-feedback." This fragmented structure also relies on periodic functional testing for feedback, resulting in low feedback efficiency. Furthermore, existing decision-making data relies on single kinematic or psychological data, and feedback decisions rely on pre-set rules, failing to adequately account for individual patient differences.

[0004] Secondly, due to the limited size and installation space of these devices, for example, they can only provide basic image display and sound simulation functions, lacking richer sensory interaction, resulting in relatively poor simulation effects and a relatively limited range of applicable rehabilitation scenarios. At the same time, it is difficult to create realistic, immersive rehabilitation scenes, which affects rehabilitation effects and the transfer of training effects. Existing immersive VR display devices with high immersion levels and capable of simulating these special scenarios are relatively large, such as dome theaters, flying theaters, and immersive rehabilitation training cabins. Large equipment is expensive to build and maintain, is inconvenient to carry, and is difficult to promote to more scenarios.

[0005] Furthermore, existing virtual reality rehabilitation suits lack the ability to actively interact with the patient's body (e.g., providing assistance, resistance, guidance, and restraint). This makes them inadequate when faced with core rehabilitation challenges such as severe muscle weakness (requiring assistance), the need to increase muscle strength (requiring resistance), and the presence of spasticity / hypertonia (requiring inhibition, guidance, and restraint). This type of equipment cannot "actively" help the weak complete movements, nor can it "actively" inhibit overactive muscles or provide progressive strength training loads. Existing traditional rehabilitation equipment has limitations in its interaction with the body. The equipment serves merely as an auxiliary tool and fails to achieve deep integration with the patient's body and the rehabilitation environment, making it difficult to promote rehabilitation outcomes through embodied experience.

[0006] Finally, the rehabilitation logic of existing traditional rehabilitation equipment is mostly "task-oriented training", which focuses on standardized training, lacks attention to individual differences, and cannot provide personalized rehabilitation plans based on the patient's real-time physical condition and needs. It ignores the deep impact of the interaction between the body and the environment on cognition and neural plasticity, and it is difficult to achieve the goal of reshaping cognition and neural representation through embodied experience. Summary of the Invention

[0007] In view of this, an embodiment of the present invention provides a virtual reality rehabilitation suit to eliminate or improve one or more defects in the prior art.

[0008] The rehabilitation suit includes: a humanoid wearing body, which is used to seal the patient completely inside after wearing it; an exoskeleton motion module, which is arranged on the humanoid wearing body and covers at least the target motion parts involved in the training task scene; a sensory stimulation module, a physiological signal monitoring module and a central control module that are integrated or externally arranged on the humanoid wearing body; wherein the sensory stimulation module is used to simulate a virtual reality scene based on the training task scene through at least three environmental factors of vision, sound, temperature, humidity, fragrance, wind speed, tactile pressure and gas partial pressure; the physiological signal monitoring module is used to obtain motion posture, heart rate, electromyography, electroskin electricity, eye movement and micro-expression detection in real time based on the training task scene. at least one physiological signal in the training task and feed it back to the central control module; the central control module is used to control the sensory stimulation module to output environmental factors for virtual reality based on the training task scenario pre-stored or received by the individual differences of the rehabilitation patients, and is used to control the exoskeleton motion module to assist the patient in training or increase motion damping based on the training task scenario or the physiological signal received in real time, and is used to adjust the environmental factors output by the sensory stimulation module based on the physiological signal received in real time to adjust the training task scenario, realize the dynamic interaction between the patient's physical condition and the scenario, and control the patient's body, the sensory stimulation module, the exoskeleton motion module and the physiological signal monitoring module as a unified whole.

[0009] In some embodiments, the exoskeleton motion module includes at least one of an upper limb motion module and a lower limb motion module, which is detachably arranged on the outside of the corresponding limb part of the humanoid wearing body, and is used to apply positive or reverse force to the patient's limb movements based on the training task scenario.

[0010] In some embodiments, the sensory stimulation module includes a display module located in the head area of the humanoid wearing body, and the display module includes an image processor, a display, and an optical lens with adjustable degree; wherein, the image processor is used to calculate the VR scene and viewing angle based on the training task scene and the patient's real-time position and angle, the display is used to display the VR scene image, and the optical lens is used to be set at a position between the patient and the display, and is used to adjust the lens curvature or the combined focal length of the combined lens based on the patient's myopia or hyperopia degree to achieve degree matching adjustment.

[0011] In some embodiments, the sensory stimulation module includes a sound module located in the head area of the humanoid wearing body, and the sound module includes an audio array consisting of at least 8 speakers or a headphone device for playing sounds based on the training task scenario.

[0012] In some embodiments, the sensory stimulation module includes a temperature regulation module arranged in the humanoid wearing body, which is used to control the temperature based on the training task scenario; the temperature regulation module includes at least one group of cooling devices and heating devices, and the cooling devices and heating devices in the same group are arranged adjacent to each other, which are used to adjust the temperature of the same part of the patient; when there are more than two groups of cooling devices and heating devices, each group is arranged in the temperature-sensitive area corresponding to the patient in the humanoid wearing body; and / or, the sensory stimulation module includes a humidity regulation module arranged in the head and neck area of the humanoid wearing body, and the humidity regulation module includes a humidifying device and a dehumidifying device, which is used to control the humidity based on the training task scenario.

[0013] In some embodiments, the sensory stimulation module includes an odor adjustment module located in the head area of the humanoid wearing body, and the odor adjustment module includes a perfume capsule compartment for installing perfume capsules of corresponding scents based on the training task scenario; or, the odor adjustment module includes a perfume storage box, a perfume sprayer, and an odor concentration detection unit, the perfume storage box is used to store perfumes of corresponding scents of the training task scenario, the perfume sprayer is connected to the perfume storage box, and is used to spray perfume in the head area of the humanoid wearing body, the odor concentration detection unit is used to detect the odor concentration in the head area of the humanoid wearing body, and the perfume sprayer is also used to adjust the spraying amount based on the odor concentration.

[0014] In some embodiments, the sensory stimulation module includes a wind speed adjustment module located in the head area of the humanoid wearable body, the wind speed adjustment module includes at least one fan corresponding to the patient's face, and the fan is used to adjust the air volume based on the training task scenario and / or the patient's walking speed feedback; and / or, The sensory stimulation module includes a gas partial pressure regulating module provided in the humanoid wearable body, the gas partial pressure regulating module including a gas supply assembly, a pressure regulating device, a gas content monitoring device and a safety protection device; Wherein, the gas supply assembly includes a gas source bottle for storing a target gas based on the training task scenario, wherein the target gas includes at least one of hydrogen, oxygen, nitric oxide, carbon dioxide or a mixed gas; The pressure regulating device is used to monitor and regulate the total pressure of the sealed environment inside the humanoid wearing body; The gas content monitoring device is used to monitor the actual content of the target gas, and the gas supply component is further used to adjust the supply amount of the target gas based on the actual content of the target gas and a set value; The safety protection device includes a safety valve and an alarm, which is used to adjust the total gas pressure or reduce the content of the target gas by opening the safety valve based on the total gas pressure inside the humanoid wearing body and / or the content of the target gas.

[0015] In some embodiments, the sensory stimulation module includes a tactile pressure feedback module arranged in the humanoid wearing body, and the tactile pressure feedback module corresponds to the position of the exoskeleton motion module, and is used to apply pressure and vibration to the target motion part to simulate the tactile sensation after the target motion part contacts an object; the tactile pressure feedback module includes: an actuator, a vibrator and a pressure pump airbag; the actuator is used to provide pressure to the patient's target motion part, the vibrator is used to provide a vibration sense, and the pressure pump airbag is used to periodically inflate and deflate to promote passive contraction of limb muscles.

[0016] In some embodiments, the physiological signal monitoring module includes a motion posture monitoring module, and the motion posture monitoring module includes an inertial sensor arranged in the humanoid wearing body corresponding to the target motion part, and the number of the inertial sensors is set to be more than six, and is arranged at least at the head, middle upper body, upper limbs and lower limbs of the humanoid wearing body; the inertial sensor includes an accelerometer, a gyroscope and a magnetometer, which are used to obtain the patient's movement speed, position, joint mobility and posture symmetry; or, the motion posture monitoring module includes a visual capture rehabilitation suit arranged outside the humanoid wearing body, which is used to capture human body movements in real time through a camera; the motion posture monitoring module is also used to send the monitored movement speed, position, joint mobility and posture symmetry to the central control module, so that the virtual avatar displayed on the display module of the training task scene is the same as the patient's movement.

[0017] In some embodiments, the physiological signal monitoring module includes a heart rate monitoring module, and the motion posture monitoring module includes an electronic heart rate meter or a facial image recognition module disposed in the humanoid wearable body, for detecting the heart rate and heart rate variability and feeding back the heart rate and heart rate variability to the central control module; The physiological signal monitoring module includes an electromyography monitoring module, which includes at least one pair of electromyography electrodes for being arranged corresponding to the target movement part, so that the electromyography electrodes are in direct contact with the patient's skin to monitor the surface electromyography of the target movement part; the electromyography monitoring module is further used to send the surface electromyography to the central control module to obtain the muscle activation status of the patient's target movement part and the recovery status of the damaged muscles; the central control module is also used to adjust the difficulty of the training task scene and output electromyography data; The physiological signal monitoring module includes a skin electrode monitoring module, which includes at least one skin electrode for being set corresponding to the patient's hand or foot, for monitoring the skin electrode signal; the skin electrode monitoring module is also used to send the skin electrode signal to the central control module to obtain the patient's stress response level, so that the central control module can adjust the difficulty of the training task scenario based on the stress response level; The physiological signal monitoring module includes an eye movement monitoring module, which includes an eye tracker disposed in the head area of the humanoid wearable body, for monitoring eye movements and feeding back to the central control module to adjust the viewing angle of the image displayed by the display module; The micro-expression recognition module includes a facial recognition camera located in the head area of the humanoid wearing body, which is used to recognize micro-expressions and feed back to the central control module.

[0018] The virtual reality rehabilitation suit in this embodiment combines environmental simulation with exercise training, leveraging sensory stimulation and physiological feedback to provide patients with a comprehensive, immersive rehabilitation experience. This design not only helps patients conduct personalized rehabilitation training but also effectively increases the enjoyment of training and motivates patients to persist in the long term.

[0019] Additional advantages, objects, and features of the present invention will be set forth in part in the following description and will become apparent to those skilled in the art upon examination of the following or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained by the structures particularly pointed out in the description and drawings.

[0020] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present invention are not limited to the above specific descriptions, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are intended to provide a further understanding of the present invention, constitute a part of this application, and are not intended to limit the present invention. The components in the drawings are not drawn to scale but are intended solely to illustrate the principles of the present invention. To facilitate illustration and description of certain aspects of the present invention, corresponding portions in the drawings may be exaggerated, i.e., may appear larger than other components in an exemplary device actually fabricated according to the present invention.

[0022] Figure 1 Schematic diagram of the structure of a virtual reality rehabilitation suit in one embodiment of the present invention.

[0023] Figure 2 This is a block diagram of the composition of a virtual reality rehabilitation suit in one embodiment of the present invention.

[0024] Reference numerals: 1. Sensory stimulation module; 11. Display module; 12. Sound module; 13. Temperature adjustment module; 14. Humidity adjustment module; 15. Odor adjustment module; 16. Wind speed adjustment module; 17. Tactile pressure feedback module; 18. Gas partial pressure adjustment module; 2. Physiological signal monitoring module; 21. Movement posture monitoring module; 22. Heart rate monitoring module; 23. Myoelectricity monitoring module; 24. Skin conduction monitoring module; 25. Eye movement monitoring module; 26. Micro-expression recognition module; 3. Central control module; 4. Exoskeleton motion module. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0026] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, the accompanying drawings only show structures and / or processing steps closely related to the solutions according to the present invention, while other details that are not closely related to the present invention are omitted.

[0027] It should be emphasized that the term "include / comprises" when used herein refers to the existence of features, elements, steps or components, but does not exclude the existence or addition of one or more other features, elements, steps or components.

[0028] It should also be noted that, unless otherwise specified, the term "connection" herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0029] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0030] Existing VR-only rehabilitation suits are increasingly being used in the rehabilitation field, but their lack of active dynamic intervention capabilities is a fundamental limitation for treating patients with abnormal muscle strength (either decreased or excessive). These suits also lack multisensory stimulation and the ability to simulate scenarios similar to real-life or specialized scenarios. Existing suits primarily target repeated training in specific scenarios, but fail to adequately account for individual patient differences. This invention provides a virtual reality rehabilitation suit that integrates an exoskeleton into the suit. This design concept directly addresses this core limitation by endowing the suit with controllable physical assistance, resistance, guidance, and restraint. This combination is expected to provide more effective, proactive, and personalized rehabilitation training for patients with muscle weakness and dystonia (such as spasticity), significantly improving rehabilitation outcomes, particularly in functional task training and neuromotor control remodeling. This "virtual-real" and "hard-soft" approach represents an important development direction for rehabilitation engineering.

[0031] In addition, the rehabilitation suit in the embodiment of the present invention integrates the multiple sensory channel stimulation and physiological signal collection that can be achieved in the VR simulation cabin into a closed and narrow environment similar to a space suit / anti-gravity suit, and can be used in virtual reality scenes of different virtual reality rehabilitation training tasks. Figure 1 and Figure 2As shown, the virtual reality rehabilitation suit in the embodiment of the present invention may include: a humanoid wearing body, an exoskeleton movement module 4 (hereinafter referred to as exoskeleton), a sensory stimulation module 1, a physiological signal monitoring module 2 and a central control module 3, etc.

[0032] Furthermore, the humanoid wearable body is designed to completely seal the patient once donned, ensuring effective protection and support during training. The humanoid wearable body can adopt a structure and material similar to a space suit, as long as it is airtight. Of course, the body structure should also be flexible enough not to restrict the patient's movement. The humanoid wearable body provides a physically isolated immersive environment and serves as the hardware carrier for multi-sensory stimulation and the exoskeleton motion module 4.

[0033] Furthermore, the exoskeleton motion module 4 is arranged on the humanoid wearing body, covering at least the target motion parts involved in the training task scenario; the role of the exoskeleton is to help the patient perform target training through assisted movement, or to provide additional movement resistance when necessary to enhance the rehabilitation effect. Target motion parts refer to body parts that require special training or treatment during rehabilitation training. These parts can be related to rehabilitation goals, such as restoring damaged muscles, joints, nerves or other body functions. In virtual reality rehabilitation clothing, target motion parts are specific body areas covered and assisted by the exoskeleton motion module 4. These areas can be determined according to the patient's specific needs or training plan, such as knee joints, shoulders, wrists and other parts. During training, the rehabilitation suit will provide appropriate motion assistance through the exoskeleton module to help these target parts restore function or improve movement ability.

[0034] Furthermore, the sensory stimulation module 1, physiological signal monitoring module 2, and central control module 3 can be integrated or externally arranged on the humanoid wearable body. The sensory stimulation module 1 is configured to simulate a virtual reality scene based on the training task scenario using at least three environmental factors of vision, sound, temperature, humidity, fragrance, wind speed, tactile pressure, and gas partial pressure, with at least vision and sound being included. The physiological signal monitoring module 2 is configured to acquire at least one physiological signal of movement posture, heart rate, electromyography, electrodermal conduction, eye movement, and micro-expression detection in real time based on the training task scenario and feed it back to the central control module 3.

[0035] Furthermore, the central control module 3 is used to control the sensory stimulation module 1 to output environmental factors for virtual reality based on the training task scenario pre-stored or received by the individual differences of rehabilitation patients (mainly referring to the state of the parts that need rehabilitation); is used to control the exoskeleton motion module 4 to assist patients in training or increase motion damping based on the training task scenario or the physiological signal received in real time, thereby optimizing the training process and improving the rehabilitation effect; is used to adjust the environmental factors output by the sensory stimulation module 1 based on the physiological signal received in real time, so as to adjust the training task scenario and realize dynamic interaction between the patient's physical condition and the scenario; through the above settings, the central control module 3 can control the patient's body, sensory stimulation module 1, exoskeleton motion module 4 and physiological signal monitoring module 3 as a unified whole.

[0036] The virtual reality rehabilitation suit in the embodiment of the present invention provides patients with a full range of immersive rehabilitation experience by formulating personalized training task scenarios, combining environmental simulation with sports training, and utilizing sensory stimulation and physiological feedback. The present invention forms a real-time dynamic interactive closed loop through the deep coupling of multi-channel stimulation, physiological monitoring, and exoskeleton motion modules. This design not only helps patients conduct personalized rehabilitation training, but also effectively improves the fun of training and the motivation of patients to persist in the long term; it can help patients complete limited movements in reality in a virtual reality environment, thereby promoting neural remodeling and allowing patients to truly restore their own abilities.

[0037] Optionally, the central control module 3 can be equipped with a memory or data interface for inputting specific training task scenarios based on pre-stored training task scenarios or from a control platform (e.g., a patient's mobile device or server). The sensory stimulation module 1 then simulates and reproduces the scenarios within the humanoid wearer. The training task scenarios include various environmental settings (e.g., climate, sound, temperature, etc. within the virtual scene), which can be dynamically adjusted by the central control module 3 to accommodate different rehabilitation needs or training and entertainment applications. The central control module 3 can also process and analyze the patient's physiological signals (e.g., heart rate, eye movements, etc.) in real time and adjust the output of sensory stimulation based on these signals. For example, if the rehabilitation suit detects an elevated heart rate or eye movements indicating tension in the patient, the central control module 3 can automatically adjust the intensity of the environmental stimulation, reducing visual effects, lowering sound volume, and even adjusting the temperature or humidity to help the patient relax or regain balance.

[0038] In the above embodiment, the rehabilitation suit, by integrating multiple sensory stimulation and physiological signal monitoring modules 2, combined with real-time adjustment by the central control module 3, can provide a more personalized and immersive virtual reality experience, greatly enhancing the authenticity and adaptability of the virtual environment, and has broad application prospects. With the help of the humanoid wearer, the rehabilitation suit can be miniaturized and used as a portable device, achieving three-level coverage for hospital, rehabilitation center and home use. It is particularly suitable for personal rehabilitation training, such as neurological rehabilitation, motor function recovery, and mental health interventions such as emotional regulation and stress management. Of course, in terms of entertainment and simulation training, the rehabilitation suit provides a rich interactive platform and can also be used in various scenarios such as VR games, vocational education, and military training.

[0039] In some embodiments, the humanoid wearable body may utilize a full-body garment design. The design of the humanoid wearable body can cover the entire body area and may include a fully enclosed structure that covers the patient's body, including the head, limbs, and torso. The primary purpose of this enclosed design is to enhance the effectiveness of rehabilitation training, prevent external environmental interference with exercise performance, and ensure comfort and stability during training. Full enclosure can also enhance the real-world experience of smells, temperature, humidity, air pressure, wind speed, and other factors; it can also prevent interference from external light, noise, and airflow, ensuring the integrity of the virtual reality experience. A light-blocking design can completely block external light sources, preventing the patient from being affected by external lighting in the virtual environment. This design allows the patient to focus on the details of the virtual world while experiencing virtual reality, avoiding external distractions. A fully enclosed design can also enhance feedback from other sensory organs, such as smells, temperature, humidity, and air pressure, to simulate a more realistic virtual environment. Furthermore, the material and structural design of the humanoid wearable body can also be designed for comfort and adaptability. For example, certain areas of the body may utilize adjustable components or padding to ensure a close fit with the patient's body shape, preventing discomfort from prolonged wear.

[0040] In some embodiments, the exoskeleton motion module 4 includes at least one of an upper limb motion module and a lower limb motion module to help patients perform limb motion training. The exoskeleton motion module 4 can be detachably arranged on the outside of the corresponding limb part of the humanoid wearing body, and is used to apply positive or negative force to the patient's limb movements based on the training task scenario. The positive force helps to support the patient in performing specific movement movements, provides necessary strength support, and helps to restore exercise ability. The negative force is achieved by increasing a certain amount of resistance, simulating challenges in a real environment or suppressing excessive muscle strength, strengthening muscle and joint training, and helping to increase exercise intensity or restore muscle strength to normal. Optionally, the exoskeleton motion module 4 can be supported by a rigid or flexible mechanical skeleton, and the power unit can be a micro servo motor or a pneumatic actuator.

[0041] Existing VR-only rehabilitation suits lack physical support. For patients with severely reduced muscle strength (such as those in the early stages of a stroke, spinal cord injury, or severe muscular dystrophy), they may be unable to actively initiate or complete the movements required in VR tasks, even with clear visual guidance and engaging games. Patients are limited to very limited activities within their current strength range, failing to effectively stimulate strength growth or perform functional tasks. Training efficiency is low, leading to frustration. For rehabilitation scenarios involving strength imbalances or those requiring strength enhancement, existing suits are unable to apply controlled physical resistance. For patients who need to strengthen specific muscle groups (such as those undergoing postoperative rehabilitation and preventing disuse atrophy), or who need to inhibit spastic muscles and activate antagonistic muscles (such as upper limb flexor spasticity after a stroke), pure VR cannot provide the necessary progressive loading or specific resistance. This results in insufficient training intensity, making it difficult to effectively promote muscle hypertrophy and strength gains. It also makes it impossible to precisely target spastic muscles for inhibitory training or promote antagonistic muscle activation. VR provides visual and auditory feedback, but lacks crucial proprioception and tactile feedback. Patients cannot feel the "force" exerted by virtual objects, nor can they feel the precise position of joints in space and the resistance to movement.

[0042] Optionally, the exoskeleton motion module 4 in this embodiment of the present invention can cover key joints such as the shoulder, neck, elbow, wrist, waist, hip, knee, and ankle, providing bidirectional mechanical interaction of assistance and damping. The exoskeleton not only provides joint torque to assist patients with muscle weakness in completing movements in VR tasks, enabling them to participate in higher-level functional training and effectively stimulating neuromuscular recovery, but also applies controllable resistance for muscle strengthening training or targeted inhibition of spastic muscles / activation of antagonistic muscle groups. The exoskeleton can also precisely guide joint movement trajectories, limit abnormal range of motion, stabilize joints, help patients learn correct movement patterns, and physically suppress spasticity. The mechanical interaction provided by the exoskeleton itself is a form of physical feedback, compensating for the lack of proprioceptive input in a pure VR environment. Combined with VR's visual feedback, it can provide richer multimodal sensory input, further facilitating motor learning and neural remodeling. The exoskeleton can intelligently adjust the assistance or resistance it provides based on the patient's real-time status. For example, in a virtual mountain climbing scenario, the exoskeleton provides assistance to the patient's affected limb as they climb; during resistance training, the exoskeleton provides reverse resistance. Through this precise feedback, patients can receive training that better suits their actual needs and promote the recovery of their athletic ability.

[0043] In some embodiments, the sensory stimulation module 1 includes at least three modules selected from the group consisting of a display module 11, a sound module 12, a temperature adjustment module 13, a humidity adjustment module 14, an odor adjustment module 15, a wind speed adjustment module 16, a tactile pressure feedback module 17, and a gas partial pressure adjustment module 18. The display module 11 is responsible for providing an image display of the virtual environment to enhance visual immersion. The sound module 12 is responsible for providing sound effects to simulate the sounds in the virtual environment, making the experience more realistic. The temperature adjustment module 13 can adjust the ambient temperature within the humanoid wearable body according to the requirements of the virtual environment, simulating temperature changes in different environments. The humidity adjustment module 14 can adjust the air humidity to simulate environmental sensations such as dampness and dryness. The odor adjustment module 15 can simulate odors in the virtual environment by releasing odor molecules, enhancing immersion. The wind speed adjustment module 16 can simulate wind speed changes to enhance the patient's spatial perception. The gas partial pressure adjustment module 18 can simulate special conditions such as different climates or plateau environments by changing the partial pressures of air components. At least three modules will be combined to provide patients with a multi-sensory, immersive virtual experience. Of course, the sensory stimulation module 1 of this embodiment of the present invention can also include all eight modules mentioned above to provide the most comprehensive sensory stimulation and environmental simulation possible. Within the fully sealed and confined humanoid wearable body, precise and independent control of environmental parameters such as temperature, humidity, gas partial pressure (e.g., simulating high-altitude hypoxia), fragrance, and wind speed is relatively easy to achieve. The present invention seamlessly integrates multimodal stimulation, including vision, hearing, touch, temperature, smell, and vestibular senses, creating an unprecedented sense of realism and consistency.

[0044] In some embodiments, the display module 11 is disposed within the humanoid wearable body, located in the head area, and includes an image processor, a display, and an optical lens with adjustable degrees. The image processor is used to calculate the VR scene and viewing angle based on the training task scenario and the patient's real-time position and angle. The image processor needs to handle complex 3D graphics rendering and update the scene and viewing angle in real time based on the patient's movements (such as turning the head or moving) to ensure that the image content in the virtual world matches the patient's actual experience. The display is used to display the VR scene image. Optionally, the display can be configured as a curved display that at least covers the entire viewing angle range of the patient within the humanoid wearable body. The display can be configured with high resolution and a fast refresh rate to reduce latency and enhance the patient's visual experience.

[0045] Furthermore, to enhance the visual experience and expand the range of patients suitable for the system, the optical lens is positioned between the patient and the display and is used to adjust the lens curvature or the combined focal length of the combined lens system based on the patient's myopia or hyperopia, achieving diopter matching. When a patient has myopia or hyperopia, the optical lens adjusts its focal length or curvature based on the patient's vision needs. For example, a myopic patient requires a lens to focus images on their retina, while a hyperopic patient requires a lens to adjust the focal length for clear images at a distance. Diopter adjustment can be automatic or manual. For example, the display module 11 can automatically adjust the optical lens based on the patient's eye diopter (measured by a sensor or input by the patient), ensuring clear vision and avoiding eye fatigue or discomfort caused by diopter mismatch. The optical lens can utilize a mechanically adjustable lens assembly, adjusting the combined focal length by varying the spacing or tilt angle of two or more lenses. For example, a micro-guide rail or spiral structure can be used to control the lens spacing, and the patient can adjust the combined focal length using a knob or slider similar to zooming a camera lens. Optical lenses can also use fluid lenses or liquid crystal lenses. Fluid lenses control the shape of liquid droplets by changing liquid pressure or electric field to adjust the lens curvature; liquid crystal lenses use the changes in the arrangement of liquid crystal molecules under an electric field to form a gradient refractive index lens.

[0046] In the above-described embodiment, the design of the display module 11 provides a highly personalized virtual reality experience. Not only does the image processor achieve efficient scene rendering, but the optical lens's adjustable power addresses differences in vision among patients, ensuring that each patient experiences a comfortable and clear visual experience. This design is particularly important for patients who use virtual reality devices for extended periods, helping to reduce visual fatigue and enhance the overall user experience.

[0047] In some embodiments, the sound module 12 is arranged in the humanoid wearing body, located in the head area, and includes a sound array composed of at least 8 speakers or a headphone device for playing sound based on the training task scenario. The sound array formed by multiple speakers can produce a more three-dimensional and directional sound effect. The design of the sound array allows the sound to dynamically adjust the direction and volume according to the position of objects in the virtual scene and the patient's perspective. This design can provide a three-dimensional audio experience and simulate the source of sound in the environment. For example, when the patient turns his head, the direction of the sound source will also change, increasing the sense of immersion. Through the layout of multiple speakers, the sound module 12 can achieve more accurate sound positioning by adjusting the output intensity and delay of each speaker. For example, simulating the sound of footsteps in the distance, the sound of wind nearby, or the sound of an object colliding, the patient can perceive from which direction the sound is coming.

[0048] Compared to speaker arrays, headphones can provide a more focused and isolated auditory experience, reduce external noise interference, and further enhance the immersion in virtual scenes. Headphones can be in-ear headphones or wrap-around headphones. Compared to speaker arrays, headphones can provide a more focused and isolated auditory experience, reduce external noise interference, and further enhance the immersion in virtual scenes. Headphones can be configured with 3D spatial audio technology, allowing sounds to simulate various locations in the virtual world of training task scenarios and adjust in real time as the patient's head or body position changes. This dynamic adjustment can enhance the patient's immersion in the virtual scene in VR scenes that require a high degree of interactivity and response.

[0049] In some embodiments, the temperature regulation module 13 includes at least one set of cooling and heating devices within the humanoid wearable body. The cooling and heating devices within the same set are positioned adjacent to each other to regulate the temperature of the same area of the patient. If two or more sets of cooling and heating devices are provided, each set is positioned within the humanoid wearable body, corresponding to a temperature-sensitive area of the patient. These temperature-sensitive areas can be particularly sensitive to temperature fluctuations, such as the wrists, neck, abdomen, or limbs. Precisely regulating the temperature in these areas can effectively enhance the patient's comfort and help regulate their body sensation. The cooling and heating devices regulate the wearer's perceived temperature through heat exchange with the temperature-sensitive areas. The cooling device absorbs heat to lower the temperature, while the heating device releases heat to raise the temperature. This effectively avoids discomfort caused by temperature discomfort when wearing the headset for extended periods. Alternatively, the cooling device can utilize multiple semiconductor cooling chips, and the heating device can utilize multiple resistance heating chips. Alternatively, the entire temperature regulation module 13 can utilize a small air-conditioning compressor to cool or heat the environment within the humanoid wearable body. It is understandable that the cooling devices or heating devices of each group can be controlled to the same temperature or different temperatures to simulate the temperature difference experience of different parts of the body, such as a fire scene or a cooking scene.

[0050] Furthermore, the temperature adjustment module 13 is used to control the temperature based on the training task scenario. Optionally, the temperature adjustment module 13 is configured to adjust the ambient temperature within the humanoid wearer between 0°C and 45°C. The core function of the temperature adjustment module 13 is to automatically adjust the temperature based on the training task scenario. For example, in a virtual reality (VR) or augmented reality (AR) environment, temperature changes in the scene (such as seasonal changes or weather changes in the virtual world) can be provided to the patient in real time through this module, enhancing immersion.

[0051] In some embodiments, the humidity control module 14 is located within the humanoid wearable body, in the head and neck area, which is highly sensitive to humidity changes and can quickly affect the patient's comfort. The humidity control module 14 may include a humidifier and a dehumidifier to control humidity based on the training scenario. The humidifier releases water vapor or moisture into the wearable body to increase the ambient humidity, while the dehumidifier absorbs or releases moisture to reduce the humidity within the wearable body, maintaining a suitable humidity environment. Alternatively, the humidifier can be a small humidifier that provides moisture through evaporation or ultrasonic technology, while the dehumidifier may use condensation, hygroscopic materials, or air circulation (such as ventilation equipment) to reduce humidity. The two devices complement each other to ensure that the ambient humidity remains stable within the desired range. Optionally, the humidity control module 14 can adjust the ambient humidity within the wearable body within a range of 30%-90%, flexibly adapting to the needs of different scenarios. For example, in a simulated rainforest scene, the humidity control module 14 may increase the humidity, while in a desert scene, it may decrease the humidity to enhance the immersion of the virtual environment.

[0052] In the above embodiment, the humidity adjustment module 14 monitors the humidity inside the humanoid wearer in real time and quickly responds to environmental changes or changes in the patient's physiological signals to ensure that the humidity remains within the optimal range. By working in conjunction with the VR rehabilitation suit, the humidity adjustment module 14 ensures that the experience of each scene matches the humidity changes, enhancing the overall sense of interaction and immersion.

[0053] In some embodiments, the odor adjustment module 15 is arranged in the humanoid wearing body, located in the head area, and may include a perfume capsule compartment for installing perfume capsules of corresponding scents based on the training task scenario; and installing perfume capsules that match the scenario through the training task scenario. These capsules contain perfumes of specific scents to simulate the odor experience associated with the scenario. For example, when simulating a forest scene, the capsule may contain the smell of grass or soil, and when simulating a beach scene, it may contain the smell of salty sea breeze. When the patient wears the device, the odor adjustment module 15 can automatically select and activate the corresponding perfume capsule according to the requirements of the training task scenario. For example, if multiple capsule compartments are set, the corresponding capsule compartment door can be opened for a specific scene to release the corresponding scent. By replacing the capsule, the change in smell can be flexibly adjusted to enhance the sense of immersion. The perfume capsule can be disposable or reusable.

[0054] In other embodiments, the odor adjustment module 15 includes a perfume storage box, a perfume nozzle, and an odor concentration detection unit. The perfume storage box is used to store perfumes corresponding to the odors of the training task scenarios. The perfume nozzle is connected to the perfume storage box and is used to spray perfume inside the humanoid wearing body. The odor concentration detection unit is used to detect the odor concentration inside the humanoid wearing body. The perfume nozzle is also used to adjust the spraying amount based on the odor concentration. This unit can detect the odor concentration inside the rehabilitation suit in real time to ensure that it is not too strong or too thin. Based on the concentration detection results, the rehabilitation suit can automatically adjust the spraying amount of the perfume nozzle so that the odor is always maintained within the ideal concentration range.

[0055] In certain training scenarios focused on scent training, the rehabilitation suit can detect changes in the patient's micro-expressions to help determine their reactions to specific odors and adjust the scent concentration accordingly. The micro-expression recognition module 26 is connected in real time to the odor concentration detection unit and the fragrance applicator, allowing emotional changes to be quickly captured and fed back to the fragrance applicator. This not only improves the patient's training effectiveness but also ensures that they do not experience adverse reactions to odors when experiencing discomfort or anxiety. The micro-expression recognition module 26 analyzes the patient's facial expressions (such as frowns, eye movements, and mouth movements) to identify emotional states, particularly negative emotions such as discomfort, tension, or anxiety. Once discomfort or tension is detected, the rehabilitation suit automatically reduces the amount of fragrance sprayed from the fragrance applicator to prevent overly strong odors from causing discomfort or further exacerbating tension. This not only ensures a comfortable scent experience but also reduces irritation that could lead to mood swings.

[0056] In some embodiments, the wind speed adjustment module 16 includes at least one fan mounted within the humanoid wearable body, positioned relative to the patient's face. The fan is configured to adjust the air volume based on the training task scenario and / or the patient's walking speed. For example, when the patient is walking, the wind speed can simulate the feeling of wind during walking, with faster steps resulting in increased air volume. When the patient is stationary or walking slowly, the air volume decreases accordingly, simulating varying wind speeds.

[0057] Optionally, fans can be located on either side of the display, or above or below it. This arrangement helps directly simulate the sensation of wind on the patient's face, ensuring that the wind in the virtual environment closely matches the patient's actual experience. The wind speed adjustment module 16 simulates the natural wind sensation in a virtual reality setting by combining feedback from walking speed and ambient wind speed. Through precise control and adjustment, the rehabilitation suit can adjust air volume based on the patient's movement state and the dynamic changes in the scene, enhancing the patient's immersive experience. This is particularly suitable for scenes such as walking and running in virtual reality.

[0058] In some embodiments, the gas partial pressure regulating module 18 includes a gas supply assembly, a pressure regulating device, a gas content monitoring device, and a safety protection device.

[0059] Furthermore, the gas supply assembly includes a gas source bottle for storing target gas based on the training task scenario, and the target gas includes at least one of hydrogen, oxygen, nitric oxide, carbon dioxide or a mixed gas. Hydrogen has a selective antioxidant effect and can neutralize toxic free radicals, such as used in rehabilitation scenarios such as cerebral ischemia-reperfusion injury, Parkinson's disease and metabolic syndrome. Oxygen can significantly increase the dissolved oxygen content in the blood, promote tissue repair, and inhibit the growth of anaerobic bacteria. It is suitable for rehabilitation scenarios such as carbon monoxide poisoning, gas embolism and decompression sickness. Nitric oxide is a selective pulmonary vasodilator. After inhalation, it directly acts on the pulmonary blood vessels to reduce pulmonary artery pressure. It is suitable for auxiliary rehabilitation of adult respiratory distress syndrome. Mixed gases such as helium-oxygen mixtures can reduce airway resistance and improve ventilation efficiency. They are suitable for rehabilitation scenarios such as severe asthma / COPD acute exacerbation.

[0060] Furthermore, the pressure regulating device is used to monitor and adjust the total pressure of the sealed environment within the humanoid wearer's body; this device ensures that the total air pressure within the headset matches the requirements of the virtual environment during the virtual environment simulation. Based on the pressure requirements of the training task scenario, the device adjusts the air supply and gas discharge to ensure that the air pressure remains within a preset safe range.

[0061] Furthermore, the gas content monitoring device is used to monitor the actual content of the target gas, and the gas supply component is also used to adjust the supply amount of the target gas based on the actual content of the target gas and the set value; when the monitored target gas concentration does not match the set value, the gas supply component will automatically adjust the supply amount of the target gas to maintain a stable gas concentration and ensure a realistic simulation of the virtual environment.

[0062] Furthermore, the safety protection device includes a safety valve and an alarm, which are used to adjust the total gas pressure or reduce the content of the target gas by opening the safety valve based on the total gas pressure inside the humanoid wearing body and / or the content of the target gas. The safety valve is a key protection device. When the internal air pressure is too high or the gas concentration exceeds the safety range, the safety valve will automatically open to release excess gas or adjust the gas pressure to avoid damage to the equipment or discomfort to the patient. As an auxiliary safety device, the alarm will issue a warning when it detects abnormal gas pressure or concentration, prompting the patient to take necessary measures or stop using the equipment to ensure safety. Through the automatic adjustment of the safety valve and the prompt of the alarm, the rehabilitation suit can respond to danger in a timely manner and reduce the risk of accidents.

[0063] In some embodiments, a tactile pressure feedback module 17 is positioned within the humanoid wearable body, corresponding to the position of the exoskeleton motion module 4, and is used to apply pressure and vibration to the target motion area to simulate the tactile sensation of the target motion area contacting an object. Optionally, the tactile pressure feedback module 17 comprises an actuator, a vibrator, and a pressure pump bladder. The actuator is used to apply physical pressure to the patient's target motion area, simulating the pressure sensation of contact between the target area and an object. The amount of pressure can be precisely controlled to ensure natural and realistic tactile feedback. The vibrator is used to provide a sense of vibration, which helps simulate subtle changes in the surface of different materials, such as surface roughness and vibration transmission, thereby enhancing the diversity and realism of tactile feedback. The pressure pump bladder is used to periodically inflate and deflate to promote passive contraction of limb muscles, simulating different contact forces, and achieving natural limb reactions during virtual training. Through the coordinated operation of these three components, the tactile pressure feedback module 17 can simulate the various tactile sensations of real-life contact, enhancing the immersion and effectiveness of rehabilitation training, while also helping patients gradually regain the sensation and coordination of limb movements.

[0064] In some embodiments, the physiological signal monitoring module 2 includes at least one of a movement posture monitoring module 21, a heart rate monitoring module 22, an electromyography monitoring module 23, a skin conduction monitoring module 24, an eye movement monitoring module 25, a micro-expression recognition module 26, and a body temperature monitoring module. The physiological signal monitoring module 2 is used to monitor the patient's physiological state in real time and adjust the output of the sensory stimulation module 1 based on these signals. The movement posture monitoring module 21 is used to monitor the patient's movement posture and movements, helping to analyze the range and angle of motion of their limbs and assess the correctness and effectiveness of exercise execution. The heart rate monitoring module 22 is used to monitor the patient's heart rate in real time. Heart rate changes can be used to assess physical load, emotional reactions, and physical recovery. The electromyography monitoring module 23 detects muscle electrical activity to understand muscle contraction, helping to assess muscle working status and fatigue during rehabilitation training. The skin conduction monitoring module 24 is used to monitor skin conduction response to determine the patient's emotional state or anxiety level, thereby enhancing the management of emotional fluctuations during rehabilitation. The eye movement monitoring module 25 detects the patient's eye movements and tracks the focus of their gaze, which can be used to dynamically adjust the perspective or interaction in the virtual environment. The temperature monitoring module measures the patient's temperature to assess their comfort or stress level. The micro-expression recognition module 26 identifies facial micro-expressions to capture emotional changes and can be used to adjust interactions and feedback within the virtual environment. The physiological signal monitoring module 2 can be integrated within the wearable humanoid body or deployed externally. External deployment requires a corresponding module interface or wireless transmission module to be installed on the wearable humanoid body.

[0065] In some embodiments, the motion posture monitoring module 21 includes an inertial sensor arranged in the humanoid wearing body corresponding to the target motion part. Optionally, the number of the inertial sensors is set to six or more, and they are arranged at least at the head, middle of the upper body, upper limbs on both sides and lower limbs on both sides of the humanoid wearing body to ensure that the motion information of each part can be fully collected. Optionally, the inertial sensor includes an accelerometer, a gyroscope and a magnetometer, which are used to obtain the patient's movement speed, position, joint mobility and posture symmetry, etc. The joint mobility is used to evaluate the range of motion of the joint, that is, the maximum angle or distance that the joint can move in different directions. Posture symmetry is used to analyze the symmetry of the whole body posture to ensure the balance of movement.

[0066] As another feasible method, the motion posture monitoring module 21 includes a visual capture rehabilitation suit arranged outside the humanoid wearing body, which is used to capture human body movements in real time through a camera; this method observes and captures the patient's whole body movements through an external camera, and can obtain the posture and speed of the movement in real time.

[0067] Furthermore, the motion posture monitoring module 21 is also configured to transmit the monitored motion speed, position, joint range of motion, and posture symmetry to the central control module 3, so that the virtual avatar displayed on the display module 11 of the training task scene is consistent with the patient's movements. Through this precise posture monitoring and feedback, patients can obtain a highly consistent and realistic interactive experience during virtual training, enhancing rehabilitation effects and increasing the immersiveness of training.

[0068] In some embodiments, the myoelectric monitoring module 23 includes at least one pair of myoelectric electrodes positioned corresponding to the target movement site, such that the electrodes are in direct contact with the patient's skin to monitor surface electromyography (SEM) at the target movement site. The SEM monitoring module 23 is further configured to transmit the SEM data to the central control module 3 to obtain muscle activation status and recovery status of damaged muscles at the target movement site. The central control module 3 is further configured to adjust the difficulty of the training task scenario and output the EMG data. Optionally, the EMG electrodes utilize an array, such as an 8×8 grid covering the target muscle group, with spatial differentiation techniques used to eliminate crosstalk. For example, if an activation delay of the agonist muscle is detected greater than 200ms, the exoskeleton can be controlled to apply the initial assist pulse 50ms earlier to reestablish movement timing. If an abnormal burst of discharge is detected in the antagonist muscle, the exoskeleton can be controlled to trigger reverse damping to suppress muscle spasm. If the intermuscular coordination index is detected to be less than 0.4, the exoskeleton can be controlled to reduce movement speed while simultaneously guiding the movement trajectory of the target movement site. The electromyographic monitoring module 23 realizes the triangular closed loop of "muscle-exoskeleton-virtual environment", which enables the rehabilitation process to have the ability of "predictive regulation" for the first time. It can adjust parameters before muscle fatigue accumulates and correct movements before the compensatory mode appears, truly realizing the directional induction of neuroplasticity.

[0069] In some embodiments, the electrodermal monitoring module 24 includes at least one electrodermal electrode for being set on the hand or foot corresponding to the patient, for monitoring the electrodermal signal; the electrodermal signal is generally related to factors such as the activity of sweat glands, stress response, and mood swings. The electrodermal monitoring module 24 is also used to send the electrodermal signal to the central control module 3 to obtain the patient's stress response level, so that the central control module 3 can adjust the difficulty of the training task scenario based on the stress response level. The electrodermal monitoring module 24 adds a key psychological-physiological coordinated regulation dimension to the rehabilitation suit, so that the rehabilitation process has the ability to perceive and adapt to emotional states. Optionally, the electrodermal electrode is set in the palmar thenar area of the hand, which has a high sweat gland density and can increase sensitivity to cognitive stress. For example, the stress response level can be graded into three levels: relaxation, moderate tension, and excessive stress. If the user is in a relaxed state, the VR scene can be controlled to increase the density of virtual obstacles or increase the weight, the exoskeleton can be controlled to reduce the power assist by 5% or increase the resistance by 5%, and the odor adjustment module 15 can be used to release mint aroma to refresh the mind. If the user is in a moderately tense state, the VR scene can be controlled to maintain the current parameters, the exoskeleton can be controlled to start the tremor suppression mode, and the sound module 12 can be controlled to play alpha wave background music. If the user is in an over-stressed state, the task objectives of the training task scene can be simplified or the completion time limit can be extended, the exoskeleton can be controlled to switch to the passive guidance mode, the display module 11 can be controlled to reduce the ambient brightness or resolution, and the sound module 12 can be controlled to reduce the volume, etc.

[0070] The electrodermal monitoring module 24 in the above embodiment realizes the triangular closed loop of "autonomic nervous feedback-mechanical support-environmental regulation", which can capture physiological signals before the patient perceives anxiety, distinguish between motor stress and psychological anxiety, and improve the stress tolerance threshold through gradual exposure; when the electromyography monitoring module 23 optimizes neuromuscular function, the electrodermal monitoring module 24 synchronously guards the psychological safety boundary, and the two work together to make high-intensity rehabilitation possible.

[0071] In some embodiments, the eye movement monitoring module 25 includes an eye tracker, which monitors eye movements and provides feedback to the central control module 3 to adjust the viewing angle of the image displayed by the display module 11. The eye tracker is used to monitor the patient's eye movements, including the direction and point of gaze, and rapid eye movements. By analyzing eye movement data, the rehabilitation suit can obtain the patient's visual focus in real time and adjust the viewing angle of the display module 11 accordingly, ensuring that the patient's viewing content is consistent with their visual focus, thereby providing a smoother visual experience.

[0072] Furthermore, the eye movement monitoring module 25 can be linked with the display module 11, sound module 12, odor control module 15, wind speed control module 16, temperature / humidity control module 14, and gas partial pressure control module 18. For example, in Alzheimer's memory recall, if the patient is detected focusing on a specific part of the display module 11, such as when annotating an old photo for more than 3 seconds, the display module 11 triggers the photo to be animated, such as changing from black and white to color or showing a person smiling. For example, the odor concentration can be adjusted based on the patient's pupil dilation; the white noise playback can be adjusted based on the patient's blinking rate (>25 times / minute, indicating anxiety); and the ambient humidity can be adjusted based on the patient's gaze drift rate to prevent fogging of optical lenses and the display module 11.

[0073] In some embodiments, the micro-expression recognition module 26 includes a facial recognition camera installed within the humanoid wearer, which is used to identify micro-expressions and provide feedback to the central control module 3. Optionally, the facial recognition camera captures the patient's facial expressions, particularly micro-expressions (such as subtle changes in the eyebrows and small movements of the corners of the mouth). These changes can reflect the patient's emotional or psychological state, such as happiness, surprise, and nervousness. By analyzing micro-expressions in real time, the rehabilitation suit can provide feedback to the central control module 3, potentially adjusting the content or experience of the virtual scene based on the patient's emotional state.

[0074] Furthermore, the micro-expression recognition module 26 can be linked with the display module 11, the sound module 12, the scent adjustment module 15, the air speed adjustment module 16, the temperature / humidity adjustment module 14, the gas partial pressure adjustment module 18, and other components. For example, if the rehabilitation suit detects a patient displaying a tense expression, the display module 11 can adjust the color tone of the content or display a more relaxing image to help the patient relieve tension. If the patient displays a joyful or surprised expression, the sound module 12 can play cheerful or exciting sound effects. If the patient displays an anxious or confused expression, the sound effects can switch to soothing or relaxing music to help the patient calm down. If the rehabilitation suit detects a relaxed or joyful micro-expression, it can release a soothing aroma (such as lavender or citrus). If the patient displays an anxious or tense expression, the suit can release a soothing scent to help the patient relieve stress. If the patient displays an anxious or enthusiastic expression, the suit can provide a moderate airflow to help the patient maintain a sense of comfort. If the patient displays a sleepy or relaxed expression, the airflow can be reduced to create a quieter environment.

[0075] In some embodiments, the body temperature monitoring module includes an electronic thermometer for real-time monitoring of body temperature and providing feedback to the central control module 3. Optionally, the electronic thermometer is used to monitor changes in the patient's body temperature in real time. Body temperature data can reflect the patient's physiological state, such as whether they are experiencing stress, fatigue, or other physiological changes. By feeding this temperature data back to the central control module 3, the rehabilitation suit can adjust the virtual environment or interaction mode to ensure patient comfort or adjust according to their health status.

[0076] Furthermore, the body temperature monitoring module can be linked with the display module 11, the sound module 12, the scent adjustment module 15, the wind speed adjustment module 16, the temperature / humidity adjustment module 14, the gas partial pressure adjustment module 18, and the like. For example, if a patient's body temperature is too high or too low, the rehabilitation suit can alert the patient by displaying a warning or a gentle reminder. The sound module 12 can emit a warning sound or play soothing music to alert the patient or help them adjust their condition. When a patient's body temperature changes abnormally, the scent module can adjust the ambient aroma to improve comfort. For example, if the body temperature is high, the scent module can release a cooling aroma (such as mint or citrus); if the body temperature is low, it can release a warming aroma (such as vanilla or cinnamon) to help the patient maintain a comfortable state. When the body temperature monitoring module detects that the patient's body temperature rises, the wind speed adjustment module 16 can automatically increase the wind speed to help the patient dissipate heat; when the body temperature is too low, the wind speed adjustment module 16 can reduce the wind speed to avoid excessive air flow causing a cold feeling. When the patient is detected to show a confused or anxious expression, the rehabilitation suit can adjust the gas composition (such as oxygen concentration or carbon dioxide partial pressure) to optimize the air quality and improve the patient's emotional state.

[0077] In some embodiments, the heart rate monitoring module 22 includes an electronic heart rate monitor or a facial image recognition module, which is used to detect heart rate (HR) and heart rate variability (HRV) and provide feedback to the central control module 3. Optionally, the electronic heart rate monitor is used to monitor the patient's heart rate and heart rate variability. Heart rate data is an important indicator for assessing a patient's psychological and physiological reactions, revealing emotional states such as tension, anxiety, and agitation. By continuously monitoring heart rate, the rehabilitation suit can provide appropriate feedback or adjustments when the patient is overly nervous, enhancing the comfort of the interactive experience. Heart rate can also be obtained through pattern recognition by the facial image recognition module.

[0078] Furthermore, the heart rate monitoring module 22 can be linked with the display module 11, sound module 12, odor control module 15, wind speed control module 16, temperature / humidity control module 14, and gas partial pressure control module 18. For example, when the heart rate monitoring module 22 detects an abnormal heart rate (e.g., too fast or too slow), the display module 11 can display the heart rate data in real time and provide warnings or health tips. Alternatively, the display module 11 can appropriately reduce the display resolution to minimize model effects. In post-traumatic stress disorder (PTSD) treatment scenarios, if the heart rate variability delta index is greater than 40, a reward mechanism can be activated, and the sound module 12 can be used to play personalized music. In hypercapnia intervention scenarios, if the total heart rate variability is detected to be less than 1000ms², the gas partial pressure control module 18 can reduce the CO2 concentration to 0.03% to prevent respiratory acidosis. In a deep-sea diving simulation scenario, if the heart rate is detected to be less than 50 bpm, it can be considered that the patient's vagus nerve is overactivated. At this time, air containing 3% CO2 is injected through the gas partial pressure adjustment module 18 to stimulate the patient's breathing; if the heart rate is detected to be greater than 180 bpm, it can be considered that the patient is over-excited, and the O2 concentration can be increased from 14% to 21% through the gas partial pressure adjustment module 18, and mint fragrance can be released through the odor adjustment module 15.

[0079] In the above embodiment, the present invention monitors movement posture, heart rate, electromyography, electrodermal conduction, eye movements, and micro-expressions in multiple dimensions, and quantifies the patient's status in real time from three levels: motor function (electromyography, posture), autonomic nervous response (heart rate, electrodermal conduction), and cognitive emotional state (eye movements, micro-expressions), and holographically generates a physiological portrait of the patient. If combined with AI-driven optimization, it can deeply learn the patient's response pattern, predict the best intervention strategy, and achieve the best rehabilitation effect.

[0080] For example, in a virtual upper limb picking and carrying task, this simulated training task helps patients with reduced upper limb muscle strength perform upper limb exercise rehabilitation training. In this task scenario, patients are required to pick up a target object and carry it to a target location. The exoskeleton motion module 4 in the rehabilitation suit assists patients with weaker muscles in performing upper limb exercises, while also increasing the damping during movement for patients with stronger muscles. The display module 11 displays the object picking scene and the virtual avatar within it; the sound module 12 simulates the sound effects of successful picking up and placing a designated object in a designated location; the temperature adjustment module 13 performs specific temperature training and recovery (medium-high temperature training, low temperature recovery) for the corresponding trained muscles. Short-term extremely low temperatures aid recovery, while temperatures between 30 and 40 degrees Celsius and 40% humidity contribute to aerobic exercise consumption. The tactile feedback module 17 simulates the vibrations that occur when contacting an object and the pressure during the carrying process. The movement posture monitoring module 21 feeds the patient's movement status information back to the central control module 3 to adjust task difficulty, damping level, and other parameters, and outputs information such as joint torque, movement speed, acceleration, and tremor. The heart rate monitoring module 22 feeds heart rate data back to the central control module 3 in real time, allowing for adjustments to task intensity (or difficulty) and appropriate rest intervals. The electromyography monitoring module 23 monitors the electromyography of the relevant muscles during exercise and feeds it back to the central control module 3 for output and task difficulty adjustment. The skin conductance response monitoring module and micro-expression monitoring module monitor immersion during training tasks and adjust task difficulty in real time. The eye movement monitoring module 25 identifies and monitors eye movements and feeds them back to the central control module 3 for timely adjustment of the display viewing angle. All of these functions are controlled by the central control module 3.

[0081] For example, in a spinal cord injury gait training scenario, this simulated training task helps patients walk 300 meters along a rugged trail to a viewing platform. Display module 11 displays a real-time forest path and a slope indicator light strip, providing visual guidance throughout the entire process. Wind speed adjustment module 16 increases linearly with walking speed, and patients experience wind speed changes when the speed exceeds 0.3 m / s. The temperature / humidity module simulates a forest misty morning environment (22°C, 80% RH) when entering a valley, enhancing immersion. Tactile pressure feedback module 17 uses piezoelectric plates to simulate the different textures of gravel and grass, allowing patients to perceive different ground conditions with each footfall. The gas partial pressure adjustment module 18 simulates the rehabilitation environment of a hyperbaric oxygen chamber, accelerating recovery by increasing blood oxygen concentration, inhibiting oxidative stress, and reducing cell apoptosis. During the initial swing phase of gait, the exoskeleton provides 8 Nm of flexion assistance through the hip joint to help the patient complete the swing phase. In the middle of the stance phase, the exoskeleton increases the damping by 10% through the knee joint to enhance the stability of the gait. When foot drop is detected, the ankle joint will apply a dorsiflexion correction pulse to correct the dropped foot position. According to the asymmetry of the stride, the central control module 3 will dynamically adjust the width of the virtual path to ensure the symmetry and stability of the gait. When the patient's trunk tilt angle exceeds 10°, the system will automatically generate a virtual handrail to help the patient maintain body balance. If the patient's breathing rate exceeds 25 times / minute, the system will appropriately reduce the walking speed by 20% to avoid excessive fatigue and ensure the safety of training. Through these technical means, patients with spinal cord injury can perform gait training in a virtual environment, gradually restore the ability to walk, and enhance the immersion and interactivity of the training.

[0082] The virtual reality rehabilitation suit in the embodiment of the present invention can achieve four-fold closed-loop control: 1. Interaction between the scene and the exoskeleton: According to the requirements of the virtual task, the exoskeleton will dynamically adjust the power assistance and damping mode, such as increasing the power assistance when lifting heavy objects, to help the patient complete the task.

[0083] 2. Feedback from physiological signals and the exoskeleton: When a spasm is detected in the patient (through a burst of electromyographic signals), the exoskeleton automatically applies damping to reduce muscle tension. When the patient's muscle strength is insufficient, the exoskeleton increases assistance to help the patient complete the movement.

[0084] 3. Adjustment of physiological signals and environmental simulation: When a patient shows anxiety (detected through changes in skin conductivity or micro-expression tension), the system will automatically adjust the environment, such as reducing the brightness or releasing a calming aroma to help the patient relax, or adjust environmental factors such as air pressure, oxygen content, and temperature when treatment is necessary.

[0085] 4. Correlation between exercise performance and scene difficulty: The rehabilitation suit is equipped with multiple sensors that can monitor the patient's status in real time, including exercise intention, effort level, and spasticity. This information is fed back to the VR system through a control algorithm, which adjusts the simulated environment or task intensity in real time to ensure that rehabilitation training is precisely matched to the patient's needs. For example, based on the patient's exercise performance and movement completion, the system automatically adjusts the difficulty of the task, ensuring the personalization and adaptability of the training content and improving training effectiveness.

[0086] Through the quadruple closed-loop control system, the present invention can dynamically optimize the training process according to the patient's real-time needs and status, thereby improving the treatment effect and patient experience.

[0087] It should be understood by those skilled in the art that the various exemplary components, systems, and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software, or a combination of both. Whether to implement the system in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention. When implemented in hardware, it may be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The programs or code segments can be stored in a machine-readable medium or transmitted over a transmission medium or communication link via a data signal carried in a carrier wave.

[0088] It should be understood that the present invention is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted. In the above embodiments, several specific steps are described and illustrated as examples. However, the method of the present invention is not limited to the specific steps described and illustrated. Those skilled in the art may make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present invention.

[0089] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or replace features of other embodiments.

[0090] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations to the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A virtual reality rehabilitation suit, characterized in that: The rehabilitation suit includes: A humanoid wearing body, used to seal the patient completely inside after wearing the body; An exoskeleton motion module is provided on the humanoid wearing body and covers at least the target motion parts involved in the training task scenario; A sensory stimulation module, a physiological signal monitoring module, and a central control module are integrated or externally arranged on the humanoid wearing body; The sensory stimulation module is used to simulate a virtual reality scene based on the training task scene through at least three environmental factors of vision, sound, temperature, humidity, fragrance, wind speed, tactile pressure and gas partial pressure; The physiological signal monitoring module is used to obtain at least one physiological signal of movement posture, heart rate, electromyography, electrodermal conduction, eye movement and micro-expression detection in real time based on the training task scenario and feed it back to the central control module; The central control module is used to control the sensory stimulation module to output environmental factors for virtual reality based on the training task scenario pre-stored or received by the individual differences of rehabilitation patients; to control the exoskeleton motion module to assist patients in training or increase motion damping based on the training task scenario or the physiological signal received in real time; and to adjust the environmental factors output by the sensory stimulation module based on the physiological signal received in real time to adjust the training task scenario and realize dynamic interaction between the patient's physical condition and the scenario; so as to control the patient's body, the sensory stimulation module, the exoskeleton motion module and the physiological signal monitoring module as a unified whole.

2. The virtual reality rehabilitation suit according to claim 1, characterized in that: The exoskeleton motion module includes at least one of an upper limb motion module and a lower limb motion module, which can be detachably arranged on the outside of the corresponding limb part of the humanoid wearing body, and is used to apply positive or reverse force to the patient's limb movements based on the training task scenario.

3. The virtual reality rehabilitation suit according to claim 1, characterized in that: The sensory stimulation module includes a display module disposed in the head area of the humanoid wearing body, the display module including an image processor, a display and an optical lens with adjustable degree; The image processor is used to calculate the VR scene and viewing angle based on the training task scene and the patient's real-time position and angle; the display is used to display the VR scene image; and the optical lens is used to be set at a position between the patient and the display, and to adjust the lens curvature or the combined focal length of the combined lens based on the patient's myopia or hyperopia degree to achieve degree matching adjustment.

4. The virtual reality rehabilitation suit according to claim 1, characterized in that: The sensory stimulation module includes a sound module located in the head area of the humanoid wearing body, and the sound module includes an audio array composed of at least 8 speakers or a headphone device, which is used to play sounds based on the training task scenario.

5. The virtual reality rehabilitation suit according to claim 1, characterized in that: The sensory stimulation module includes a temperature regulation module arranged in the humanoid wearable body, for controlling the temperature based on the training task scenario; the temperature regulation module includes at least one set of cooling devices and heating devices, and the cooling devices and heating devices in the same set are arranged adjacent to each other for regulating the temperature of the same part of the patient; when there are two or more sets of cooling devices and heating devices, each set is arranged in a temperature-sensitive area corresponding to the patient in the humanoid wearable body; and / or, The sensory stimulation module includes a humidity adjustment module disposed in the head and neck area of the humanoid wearing body, and the humidity adjustment module includes a humidifying device and a dehumidifying device for controlling the humidity based on the training task scenario.

6. The virtual reality rehabilitation suit according to claim 1, characterized in that: The sensory stimulation module includes an odor adjustment module disposed in the head area of the humanoid wearing body, and the odor adjustment module includes a perfume capsule compartment for installing perfume capsules with corresponding odors based on the training task scenario; or The odor adjustment module includes a perfume storage box, a perfume sprayer, and an odor concentration detection unit. The perfume storage box is used to store perfumes with corresponding odors of the training task scene. The perfume sprayer is connected to the perfume storage box and is used to spray perfume in the head area of the humanoid wearing body. The odor concentration detection unit is used to detect the odor concentration in the head area of the humanoid wearing body. The perfume sprayer is also used to adjust the spraying amount based on the odor concentration.

7. The virtual reality rehabilitation suit according to claim 1, characterized in that: The sensory stimulation module includes a wind speed adjustment module located in the head area of the humanoid wearable body, the wind speed adjustment module includes at least one fan corresponding to the patient's face, the fan is used to adjust the air volume based on the training task scenario and / or the patient's walking speed feedback; and / or, The sensory stimulation module includes a gas partial pressure regulating module provided in the humanoid wearable body, the gas partial pressure regulating module including a gas supply assembly, a pressure regulating device, a gas content monitoring device and a safety protection device; Wherein, the gas supply assembly includes a gas source bottle for storing a target gas based on the training task scenario, wherein the target gas includes at least one of hydrogen, oxygen, nitric oxide, carbon dioxide or a mixed gas; The pressure regulating device is used to monitor and regulate the total pressure of the sealed environment inside the humanoid wearing body; The gas content monitoring device is used to monitor the actual content of the target gas, and the gas supply component is further used to adjust the supply amount of the target gas based on the actual content of the target gas and a set value; The safety protection device includes a safety valve and an alarm, which is used to adjust the total gas pressure or reduce the content of the target gas by opening the safety valve based on the total gas pressure inside the humanoid wearing body and / or the content of the target gas.

8. The virtual reality rehabilitation suit according to claim 1, characterized in that: The sensory stimulation module includes a tactile pressure feedback module disposed within the humanoid wearable body, the tactile pressure feedback module corresponding to the position of the exoskeleton motion module, and configured to apply pressure and vibration to the target motion part to simulate the tactile sensation after the target motion part contacts an object; The tactile pressure feedback module includes: an actuator, a vibrator and a pressure pump airbag; the actuator is used to provide pressure to the patient's target movement part, the vibrator is used to provide a vibration sensation, and the pressure pump airbag is used to periodically inflate and deflate to promote passive contraction of limb muscles.

9. The virtual reality rehabilitation suit according to claim 1, characterized in that: The physiological signal monitoring module includes a motion posture monitoring module, which includes an inertial sensor arranged in the humanoid wearing body corresponding to the target motion part, and the number of the inertial sensors is set to be more than six, and they are arranged at least at the head, middle upper body, upper limbs and lower limbs of the humanoid wearing body; the inertial sensor includes an accelerometer, a gyroscope and a magnetometer, which are used to obtain the patient's movement speed, position, joint mobility and posture symmetry; or, the motion posture monitoring module includes a visual capture rehabilitation suit arranged outside the humanoid wearing body, which is used to capture human body movements in real time through a camera; the motion posture monitoring module is also used to send the monitored movement speed, position, joint mobility and posture symmetry to the central control module, so that the virtual avatar displayed on the display module of the training task scene is the same as the patient's movement.

10. The virtual reality rehabilitation suit according to claim 1, characterized in that: The physiological signal monitoring module includes a heart rate monitoring module, and the motion posture monitoring module includes an electronic heart rate meter or a facial image recognition module provided in the humanoid wearable body, for detecting the heart rate and heart rate variability and feeding back the heart rate and heart rate variability to the central control module; The physiological signal monitoring module includes an electromyography monitoring module, which includes at least one pair of electromyography electrodes arranged corresponding to the target movement part, so that the electromyography electrodes are in direct contact with the patient's skin to monitor the surface electromyography of the target movement part; the electromyography monitoring module is further used to send the surface electromyography to the central control module to obtain the muscle activation status of the patient's target movement part and the recovery status of the damaged muscles; the central control module is also used to adjust the difficulty of the training task scene and output electromyography data; The physiological signal monitoring module includes a skin electrode monitoring module, which includes at least one skin electrode arranged corresponding to the patient's hand or foot, for monitoring skin electrode signals; The electrodermal monitoring module is further configured to send the electrodermal signal to the central control module to obtain the patient's stress response level, so that the central control module can adjust the difficulty of the training task scenario based on the stress response level; The physiological signal monitoring module includes an eye movement monitoring module, which includes an eye tracker disposed in the head area of the humanoid wearable body, for monitoring eye movements and feeding back to the central control module to adjust the viewing angle of the image displayed by the display module; The micro-expression recognition module includes a facial recognition camera located in the head area of the humanoid wearing body, which is used to recognize micro-expressions and feed back to the central control module.

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