Virtual reality rehabilitation suit

Abstract

The present application relates to the field of virtual reality rehabilitation equipment, and provides a virtual reality rehabilitation suit, which comprises: a humanoid wearing main body for sealing a patient in its entirety after the patient wears the suit; an exoskeleton movement module arranged on the humanoid wearing main body and covering at least a target movement part involved in a training task scene; a sensory stimulation module, a physiological signal monitoring module and a central control module which are arranged on the humanoid wearing main body in an integrated manner or externally; the central control module is used for controlling the sensory stimulation module to output environmental factors based on a training task scene pre-stored or received according to individual differences of a rehabilitation patient, is used for controlling the exoskeleton movement module to assist the patient to perform training or increase movement damping based on the training task scene or real-time received physiological signals, and is used for adjusting the environmental factors output by the sensory stimulation module based on the real-time received physiological signals, so as to adjust the training task scene and realize dynamic interaction between a patient's physical condition and the scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of virtual reality rehabilitation equipment, and particularly relates to a virtual reality rehabilitation suit. BACKGROUND

[0002] The existing virtual reality (VR) rehabilitation equipment often faces some technical limitations in the rehabilitation treatment process.

[0003] Firstly, the existing virtual reality rehabilitation equipment has limitations in environmental factor simulation. The existing virtual reality rehabilitation treatment equipment can only simulate scenes and cannot play an effective role in the environmental factors of rehabilitation itself, for example, it cannot simulate environmental factors such as hyperbaric oxygen chambers, temperature chambers, pressure chambers, and medical gas supply equipment in virtual reality rehabilitation scenes, so as to play a role in adjusting patient metabolism through factors such as air pressure, illumination, and temperature. The existing virtual reality equipment and hyperbaric oxygen chambers, temperature chambers, pressure chambers, and medical gas supply equipment are separate systems and cannot replace the role of medical equipment such as oxygen chambers, temperature chambers, pressure chambers, and medical gas supply equipment to a certain extent on the virtual reality rehabilitation equipment. In the rehabilitation architecture, the existing rehabilitation training system is a linear three-section structure of “evaluation-training-feedback”, the links are fragmented, and the feedback relies on periodic functional tests, and the feedback efficiency is low. Moreover, the existing decision data is single kinematics or psychology data, and the feedback decision relies on preset rules without considering individual differences of patients.

[0004] Secondly, due to the limitations of the volume and installation space of these devices, for example, these devices can only provide basic image display and sound simulation functions, lack more rich sensory interaction, resulting in relatively poor simulation effect, limited applicable rehabilitation scenes, and difficulty in creating a real and immersive rehabilitation scene, which affects the rehabilitation effect and training effect transfer. The existing immersive VR display equipment with high immersion and the ability to simulate the above special scenes is relatively large, for example, a spherical theater, a flight theater, and an immersive rehabilitation training cabin. The large equipment has high cost and is inconvenient to carry, and it is difficult to promote to more scenes.

[0005] In addition, the existing virtual reality rehabilitation suit lacks the ability to actively interact with the patient's body (such as providing assistance, resistance, guidance, and restraint). This makes it difficult to deal with core rehabilitation challenges such as severe muscle weakness (which requires assistance), the need to strengthen muscle strength (which requires resistance), the presence of spasticity / hypermyotonia (which requires inhibition, guidance, and restraint), etc. Such devices cannot "actively" help the powerless to complete the action, nor can they "actively" inhibit the overactive muscles or provide a progressive strength training load. The interaction mode of existing traditional rehabilitation devices with the body is limited, and the device only serves as an auxiliary tool, failing to achieve deep integration with the patient's body and the rehabilitation environment, and is difficult to promote rehabilitation through embodied experience.

[0006] Finally, the rehabilitation logic of existing traditional rehabilitation devices is mostly "task-oriented training", focusing on standardized training and lacking attention to individual differences, unable to provide personalized rehabilitation programs according to the patient's real-time physical condition and needs, ignoring the deep impact of body and environment interaction on cognition and neural plasticity, and making it difficult to achieve the goal of reshaping cognition and neural representation through embodied experience. SUMMARY

[0007] In view of this, the embodiments of the present application provide a virtual reality rehabilitation suit to eliminate or improve one or more defects in the prior art.

[0008] The rehabilitation suit comprises: a humanoid wearing body for sealing the patient entirely inside after being worn; an exoskeleton movement module arranged on the humanoid wearing body and covering at least the target movement part involved in the training task scene; a sensory stimulation module, a physiological signal monitoring module, and a central control module arranged integrally or externally on the humanoid wearing body; wherein the sensory stimulation module is used to simulate a virtual reality scene through at least three environmental factors of vision, sound, temperature, humidity, fragrance, wind speed, tactile pressure, and gas partial pressure based on the training task scene; the physiological signal monitoring module is used to acquire at least one physiological signal of movement posture, heart rate, electromyography, skin electricity, eye movement, and micro-expression detection in real time and feed back to the central control module based on the training task scene; the central control module is used to control the sensory stimulation module to output environmental factors for virtual reality based on the training task scene controlled by the rehabilitation patient individual difference pre-stored or received, to control the exoskeleton movement module to assist the patient to train or increase the movement damping based on the training task scene 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 scene, so as to realize the dynamic interaction of the patient's physical condition and the scene, and to control the patient's body, the sensory stimulation module, the exoskeleton movement module, and the physiological signal monitoring module as a unified whole.

[0009] In some embodiments, the exoskeleton movement module comprises at least one of an upper limb movement module and a lower limb movement 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 negative force to the limb movement of the patient based on the training task scenario.

[0010] In some embodiments, the sensory stimulation module comprises a display module arranged in the head region inside the humanoid wearing body, which comprises an image processor, a display and a diopter-adjustable optical lens; wherein the image processor is used to calculate a VR scene and a viewing angle based on the training task scenario and the real-time position and angle of the patient, the display is used to display a VR scene image, and the optical lens is arranged between the patient and the display, and is used to adjust the curvature of the lens or the combined focal length of the combined lens based on the myopia or hypermetropia diopter of the patient to achieve diopter matching adjustment.

[0011] In some embodiments, the sensory stimulation module comprises a sound module arranged in the head region inside the humanoid wearing body, which comprises an audio array composed of at least 8 loudspeakers or a headphone device, and is used to play sound based on the training task scenario.

[0012] In some embodiments, the sensory stimulation module comprises a temperature adjustment module arranged in the humanoid wearing body, which is used to control temperature based on the training task scenario; the temperature adjustment module comprises at least one set of refrigeration devices and heating devices, the refrigeration devices and the heating devices in the same set are arranged adjacently, and are used to adjust the temperature of the same part of the patient; when there are more than two sets of refrigeration devices and heating devices, each set is arranged in the corresponding temperature sensitive area of the patient in the humanoid wearing body; and / or the sensory stimulation module comprises a humidity adjustment module arranged in the head and neck region inside the humanoid wearing body, which comprises a humidifying device and a dehumidifying device, and is used to control humidity based on the training task scenario.

[0013] In some embodiments, the sensory stimulation module comprises a smell adjustment module arranged in the head region inside the humanoid wearing body, which comprises a perfume capsule warehouse, and is used to install a perfume capsule with a corresponding smell based on the training task scenario; or the smell adjustment module comprises a perfume storage box, a perfume sprayer and a smell concentration detection unit, the perfume storage box is used to store perfume with a corresponding smell of the training task scenario, the perfume sprayer is connected with the perfume storage box, and is used to spray perfume in the head region inside the humanoid wearing body, the smell concentration detection unit is used to detect the smell concentration in the head region inside the humanoid wearing body, and the perfume sprayer is also used to adjust the spraying amount based on the smell concentration.

[0014] In some embodiments, the sensory stimulation module comprises a wind speed adjustment module arranged in the humanoid wearing body at a head region, the wind speed adjustment module comprising at least one fan corresponding to a patient's face, the fan being used to adjust the amount of wind based on the training task scenario and / or patient walking speed feedback; and / or,

[0015] The sensory stimulation module comprises a gas partial pressure adjustment module arranged in the humanoid wearing body, the gas partial pressure adjustment module comprising a gas supply assembly, a pressure adjustment device, a gas content monitoring device and a safety protection device;

[0016] The gas supply assembly comprises a gas source bottle for storing a target gas based on the training task scenario, the target gas comprising at least one of hydrogen, oxygen, nitric oxide, carbon dioxide or mixed gas;

[0017] The pressure adjustment device is used to monitor and adjust the total pressure of the sealed environment inside the humanoid wearing body;

[0018] The gas content monitoring device is used to monitor the actual content of the target gas, and the gas supply assembly is further used to adjust the supply amount of the target gas based on the actual content of the target gas and the set value;

[0019] The safety protection device comprises a safety valve and an alarm, which is used to adjust the total gas pressure inside the humanoid wearing body and / or the content of the target gas by opening the safety valve to adjust the total gas pressure or reduce the content of the target gas.

[0020] In some embodiments, the sensory stimulation module comprises a tactile pressure feedback module arranged in the humanoid wearing body, the tactile pressure feedback module corresponding to the position of the exoskeleton movement module, used to apply pressure and vibration to the target movement part to simulate the tactile feeling after the target movement part contacts the object; the tactile pressure feedback module comprises an actuator, a vibrator and a pressure pump air bag; the actuator is used to provide pressure to the target movement part of the patient, the vibrator is used to provide vibration feeling, and the pressure pump air bag is used to promote passive contraction of limb muscles by periodic inflation and deflation.

[0021] In some embodiments, the physiological signal monitoring module comprises a motion posture monitoring module, which comprises inertial sensors arranged in the humanoid wearing body corresponding to the target motion part, the number of the inertial sensors is set to more than six, and the inertial sensors are arranged at least at the positions of the head, the middle of the upper body, the upper limbs on both sides and the lower limbs on both sides of the humanoid wearing body; the inertial sensors comprise an accelerometer, a gyroscope and a magnetometer, which are used to acquire the motion speed, position, joint activity and posture symmetry of the patient; or the motion posture monitoring module comprises a visual capture rehabilitation suit arranged outside the humanoid wearing body, which is used to capture human body actions in real time through a camera; the motion posture monitoring module is further used to send the monitored motion speed, position, joint activity and posture symmetry to the central control module, so that the virtual avatar displayed on the display module is the same as the patient's action in the training task scene.

[0022] In some embodiments, the physiological signal monitoring module comprises a heart rate monitoring module, and the motion posture monitoring module comprises an electronic heart rate meter or a facial image recognition module arranged in the humanoid wearing body, which is used to detect the heart rate and heart rate variability and feed back to the central control module;

[0023] The physiological signal monitoring module comprises a muscle electrical monitoring module, which comprises at least one pair of muscle electrical electrodes arranged corresponding to the target motion part, so that the muscle electrical electrodes are in direct contact with the skin of the patient to monitor the surface muscle electricity of the target motion part; the muscle electrical monitoring module is further used to send the surface muscle electricity to the central control module to obtain the muscle activation of the target motion part of the patient and the recovery of the damaged muscle; and the central control module is further used to adjust the difficulty of the training task scene and output muscle electrical data;

[0024] The physiological signal monitoring module comprises a skin electricity monitoring module, which comprises at least one skin electricity electrode arranged corresponding to the hands or feet of the patient, which is used to monitor the skin electricity signal; the skin electricity monitoring module is further used to send the skin electricity signal to the central control module to obtain the stress reaction level of the patient, so that the central control module can adjust the difficulty of the training task scene based on the stress reaction level;

[0025] The physiological signal monitoring module comprises an eye movement monitoring module, which comprises an eye tracker arranged in the head region of the humanoid wearing body, which is used to monitor the eye movement and feed back to the central control module to adjust the view angle of the picture displayed on the display module;

[0026] The micro-expression recognition module comprises a facial recognition camera arranged in the head region of the humanoid wearing body, which is used to recognize micro-expression and feed back to the central control module.

[0027] 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.

[0028] 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.

[0029] 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

[0030] 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.

[0031] Figure 1 Schematic diagram of the structure of a virtual reality rehabilitation suit in one embodiment of the present invention.

[0032] Figure 2 This is a block diagram of the composition of a virtual reality rehabilitation suit in one embodiment of the present invention.

[0033] Reference numerals:

[0034] 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;

[0035] 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;

[0036] 3. Central control module;

[0037] 4. Exoskeleton motion module. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the embodiments and drawings. Here, the illustrative embodiments of the present application and their descriptions are used to explain the present application but are not intended to limit the present application.

[0039] Here, it should also be noted that, in order to avoid obscuring the present application due to unnecessary details, only the structures and / or processing steps closely related to the solutions according to the present application are shown in the drawings, and other details not closely related to the present application are omitted.

[0040] It should be emphasized that the term "comprises / comprising" when used in this text indicates the presence of the stated features, elements, steps or components but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0041] Here, it should also be noted that, if not specifically stated, the term "connected" in this text can not only mean direct connection but also indirect connection with the presence of an intermediate.

[0042] In the following, embodiments of the present application will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts or the same or similar steps.

[0043] The existing pure VR rehabilitation suit is gradually increasing in the application in the rehabilitation field, but its lack of active intervention ability is its fundamental limitation when facing the rehabilitation needs of muscle strength abnormalities (reduction or overstrength). These rehabilitation suits also lack multi-sensory stimulation and scene simulation ability similar to real life scenes or some special scenes; the existing rehabilitation suits mainly aim at repeated training in a certain scene, but do not take into account the individual differences of patients. The present application provides a virtual reality rehabilitation suit, which integrates the design concept of exoskeleton into the VR rehabilitation suit, directly makes up for this core defect by giving the rehabilitation suit the ability to provide controllable physical assistance, resistance, guidance and constraint. This combination is expected to provide more effective, more active and more personalized rehabilitation training means for patients with muscle strength reduction and muscle tone disorders (such as spasticity), significantly improving the rehabilitation effect, especially in functional task training and neural motor control remodeling. This "virtual-real combination" and "soft and hard combination" idea represents an important development direction of rehabilitation engineering.

[0044] In addition, the rehabilitation suit in the embodiments of the present application integrates the various sensory channel stimulation and physiological signal collection that can be achieved by the VR simulation cabin into a closed and narrow environment similar to a spacesuit / anti-G suit, which can be used for virtual reality scenes of different virtual reality rehabilitation training tasks. For example, Figure 1 and Figure 2As shown, the virtual reality rehabilitation suit in the embodiment of the present application can include a humanoid wearing body, an exoskeleton movement module 4 (hereinafter referred to as an exoskeleton), a sensory stimulation module 1, a physiological signal monitoring module 2, and a central control module 3, etc.

[0045] Further, the humanoid wearing body is used to seal the patient entirely after wearing, ensuring effective protection and support during the training process. The humanoid wearing body can be composed of a structure similar to a spacesuit and materials, as long as it can achieve sealing, of course, the main structure should also have a certain flexibility, which cannot limit the movement of the patient. The humanoid wearing body provides a physically isolated immersive environment and is a hardware carrier for multi-sensory stimulation and exoskeleton movement module 4.

[0046] Further, the exoskeleton movement module 4 is arranged on the humanoid wearing body and covers at least the target movement parts involved in the training task scenario; the exoskeleton helps the patient to perform target training by assisting movement, or provides additional movement resistance when needed to enhance the rehabilitation effect. The target movement part refers to the body part that needs special training or treatment during the rehabilitation training process. These parts can be related to the rehabilitation goal, such as restoring damaged muscles, joints, nerves or other body functions. In the virtual reality rehabilitation suit, the target movement part is the specific body area covered and assisted by the exoskeleton movement module 4. These areas can be determined according to the specific needs of the patient or the training plan, such as knee joints, shoulders, wrists, etc. During training, the rehabilitation suit will provide appropriate movement assistance through the exoskeleton module to help these target parts restore function or improve movement ability.

[0047] Further, the sensory stimulation module 1, the physiological signal monitoring module 2, and the central control module 3 can be arranged integrally or externally on the humanoid wearing body. Among them, the sensory stimulation module 1 is used to simulate a virtual reality scene based on the training task scenario through at least three environmental factors of vision, sound, temperature, humidity, fragrance, wind speed, tactile pressure, and gas partial pressure, at least including vision and sound two factors; the physiological signal monitoring module 2 is used to acquire at least one physiological signal of movement posture, heart rate, electromyogram, skin electricity, eye movement, and micro-expression detection based on the training task scenario and feedback to the central control module 3 in real time.

[0048] Further, the central control module 3 is used to control the virtual reality of the environmental factors output by the sensory stimulation module 1 based on the pre-stored or received training task scenarios of the individual differences of the rehabilitation patients (mainly referring to the state of the part needing rehabilitation); used to control the patient to train or increase the motion damping of the exoskeleton motion module 4 based on the training task scenario or the physiological signal received in real time, so as to optimize the training process and improve the rehabilitation effect; 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 the dynamic interaction of the patient's physical condition and the scene; through the above setting, the central control module 3 can control the patient's body, the sensory stimulation module 1, the exoskeleton motion module 4 and the physiological signal monitoring module 3 as a unified whole.

[0049] The virtual reality rehabilitation suit in the embodiment of the application provides a full-range and immersive rehabilitation experience for patients by formulating personalized training task scenarios, combining environmental simulation and motion training, using sensory stimulation and physiological feedback. The application forms a real-time dynamic interaction closed loop through the deep coupling of the three of multi-channel stimulation, physiological monitoring and exoskeleton motion module. This design not only helps patients to carry out personalized rehabilitation training, but also effectively improves the interestingness of training and the motivation of long-term persistence of patients; can help patients to complete the limited actions in reality in the virtual reality environment, so as to promote neural remodeling and make the patients truly recover their own ability.

[0050] Optionally, the central control module 3 can be provided with a memory or a data interface, which is used to input a specific training task scenario according to a pre-stored training task scenario or by a control platform (such as a patient mobile terminal device or a server end), and then the scene simulation reproduction is carried out by the sensory stimulation module 1 in the humanoid wearing main body. The training task scenario contains various environmental settings (such as climate, sound, temperature, etc. in the virtual scene), which can be dynamically adjusted by the central control module 3 to adapt to different rehabilitation needs or training and entertainment applications. The central control module 3 can also process and analyze the physiological signals (such as heart rate, eye movement, etc.) of the patients in real time, and adjust the output of the sensory stimulation based on these signals. For example, if the rehabilitation suit monitors that the heart rate of the patient is increased or the eye movement shows a nervous emotion, the central control module 3 can automatically adjust the stimulation intensity of the environment, can weaken the visual effect, reduce the sound volume, or even adjust the temperature or humidity, so as to help the patient to relax or restore balance.

[0051] In the above embodiments, the rehabilitation suit can provide a more personalized and immersive virtual reality experience by integrating multiple sensory stimulation and physiological signal monitoring modules 2, combined with real-time adjustment of the central control module 3, greatly enhancing the realism and adaptability of the virtual environment, and has wide application prospects. The rehabilitation suit, with the help of a humanoid wearing body, can miniaturize the device and be used as a portable device, achieving three-level coverage of hospitals, rehabilitation centers and home use, especially suitable for personal rehabilitation training, such as neurological rehabilitation, motor function recovery, and psychological health interventions such as mood 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 VR games, vocational education, military training and other scenarios.

[0052] In some embodiments, the humanoid wearing body can adopt a full-body wearable clothing design, and the design of the humanoid wearing body can cover the entire body area, and can include a fully enclosed structure covering the patient's body, including the head, limbs, torso and other parts. The main purpose of this closed design is to enhance the effect of rehabilitation training, avoid external environmental interference to the movement state, and ensure the comfort and stability during training. The full closure can also enhance the real experience of odor, temperature and humidity, air pressure, wind speed, etc.; avoid interference from external light, noise and air flow to ensure the integrity of the virtual reality experience; the light shielding design can completely shield external light sources, so that the patient will not be affected by external light in the virtual environment. Through this design, the patient can focus on the details of the virtual world when experiencing virtual reality, avoiding external interference. The full closure design can also enhance the feedback of other senses, such as odor, temperature and humidity, air pressure, etc., to simulate a more realistic virtual environment. In addition, the material and structure design of the humanoid wearing body can also have comfort and adaptability. For example, some areas of the body can use adjustable components or filling materials to ensure a close fit with the patient's body shape and avoid discomfort caused by long-term wear.

[0053] In some embodiments, the exoskeleton movement module 4 includes at least one of an upper limb movement module and a lower limb movement module to help the patient perform limb movement training. The exoskeleton movement module 4 can be detachably arranged on the outside of the corresponding limb part of the humanoid wearing body, and is used to exert a positive or negative force on the patient's limb movement based on the training task scenario. The positive force helps the patient to perform a specific movement action and provides the necessary force support to help restore the movement ability. The negative force is to simulate the challenges in the real environment or to inhibit the muscle strength by increasing the resistance, to enhance the exercise of muscles and joints, and to help increase the movement intensity or muscle strength to normal. Optionally, the exoskeleton movement module 4 can use rigid or flexible mechanical skeletons to provide support, and the power unit can use micro servo motors or pneumatic actuators, etc.

[0054] The existing pure VR rehabilitation suit cannot provide physical assistance. For patients with severe muscle strength reduction (such as early stroke, spinal cord injury, and severe muscular dystrophy), they may not be able to actively initiate or complete the actions required in the VR task, even if the visual guidance is clear and the game is interesting. Patients can only perform very limited activities within their existing muscle strength range, which cannot effectively stimulate muscle strength growth or functional task training; the training efficiency is low, and patients are prone to frustration. For rehabilitation scenarios where muscle strength is unbalanced or needs to be enhanced, the existing rehabilitation suit cannot apply controllable physical resistance. For patients who need to enhance the strength of specific muscle groups (such as postoperative rehabilitation and prevention of disuse muscle atrophy), or scenarios where it is necessary to suppress spastic muscle groups and activate antagonistic muscle groups (such as upper limb flexor spasticity after stroke), pure VR cannot provide the necessary progressive load or resistance in a specific direction, which leads to insufficient training intensity and difficulty in effectively promoting muscle hypertrophy and strength growth. It is difficult to accurately suppress spastic muscle groups or promote antagonistic muscle activation. VR provides visual and auditory feedback, but lacks key proprioceptive and tactile feedback. Patients cannot feel the "force" exerted by virtual objects, nor can they feel the precise position and movement resistance of joints in space.

[0055] Optionally, the exoskeleton motion module 4 in the embodiment of the present application can cover key joints such as shoulders, necks, elbows, wrists, waists, hips, knees, and ankles, and can provide bidirectional mechanical interaction of assistance and damping. The exoskeleton not only provides joint torque to assist patients with reduced muscle strength to complete actions in VR tasks, enabling them to participate in higher-order functional training and effectively stimulate neuromuscular recovery; the exoskeleton can also apply controllable resistance for muscle strength enhancement training or to specifically suppress spastic muscle groups / activate antagonistic muscle groups. The exoskeleton can also accurately guide the joint movement trajectory, limit the abnormal range of motion, stabilize the joint, help patients learn the correct movement pattern, and physically suppress spasticity. The mechanical interaction provided by the exoskeleton itself is a kind of physical feedback, which makes up for the lack of proprioceptive input in the pure VR environment, and in combination with the visual feedback of VR, it can provide richer multi-modal sensory input, which is more conducive to motor learning and neural remodeling. The exoskeleton can intelligently adjust the assistance or resistance provided according to the real-time state of the patient. For example, in a virtual mountain climbing scenario, the exoskeleton will provide climbing assistance for the patient's affected limb; in a resistance training, the exoskeleton will provide reverse resistance. Through these precise feedback, patients can obtain training that better meets their actual needs and promote the recovery of motor ability.

[0056] In some embodiments, the sensory stimulation module 1 includes at least three of the display module 11, the sound module 12, the temperature adjustment module 13, the humidity adjustment module 14, the odor adjustment module 15, the wind speed adjustment module 16, the tactile pressure feedback module 17, and the gas partial pressure adjustment module 18. The display module 11 is responsible for providing image display of the virtual environment, enhancing visual immersion. The sound module 12 is responsible for providing sound effects to simulate the sound in the virtual environment, making the experience more realistic. The temperature adjustment module 13 can adjust the environmental temperature in the humanoid wearing body according to the needs of the virtual environment, simulating temperature changes in different environments. The humidity adjustment module 14 can adjust the air humidity to simulate environmental feelings such as humidity and dryness. The odor adjustment module 15 can simulate the odor in the virtual environment by releasing odor molecules, enhancing the sense of 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 different climates or high-altitude environments and other special conditions by changing the partial pressure of air components. At least three modules will be combined to provide a multi-sensory, immersive virtual experience for patients. Of course, the sensory stimulation module 1 of the embodiments of the present application can also include all the above eight modules to provide as much comprehensive sensory stimulation and environmental simulation as possible. In a fully sealed and narrow humanoid wearing body, the precise independent control of environmental parameters such as temperature, humidity, gas partial pressure (such as simulated high-altitude hypoxia), fragrance, and wind speed is relatively easy to achieve; the present application seamlessly integrates multi-modal stimulation such as vision, hearing, touch, temperature sensation, olfaction, and vestibular sensation, creating an unprecedented sense of realism and consistency.

[0057] In some embodiments, the display module 11 is arranged in the humanoid wearing body and located in the head region, which includes an image processor, a display, and a degree-adjustable optical lens. The image processor is used to calculate the VR scene and perspective based on the training task scene and the real-time position and angle of the patient. The image processor needs to process complex 3D graphics rendering and update the scene and perspective in real time according to the patient's actions (such as turning his 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 an arc-shaped display covering at least the entire visual angle range of the patient in the humanoid wearing body. The display can be configured to have high resolution and fast refresh rate to reduce latency and improve the patient's visual experience.

[0058] Further, to improve the visual experience and increase the number of suitable users, the optical lens is arranged between the patient and the display to adjust the lens curvature or the combined focal length of the combined lens based on the myopia or hyperopia degree of the patient, so as to achieve degree matching adjustment. When the patient has myopia or hyperopia, the optical lens adjusts the focal length or curvature according to the vision needs of the patient. For example, myopic patients need the lens to focus the image on their retina, while hyperopic patients need the lens to adjust the focal length to make the image at a distance clear. The degree adjustment mode can be automatic or manual, for example, the display module 11 can automatically adjust the optical lens based on the eye degree of the patient (measured by the sensor or the degree information input by the patient), to ensure clear vision and avoid eye fatigue or discomfort caused by degree mismatch. The optical lens can use a mechanical adjustable lens group to adjust the combined focal length by changing the distance or inclination angle of two or more lenses; for example, a micro guide rail or a screw structure is used to control the distance between the lenses, and the patient adjusts the combined focal length by rotating or sliding the knob similar to the zoom of a camera lens. The optical lens can also use a fluid lens or a liquid crystal lens, the fluid lens adjusts the curvature of the lens by changing the pressure or electric field of the liquid droplets, and the liquid crystal lens uses the arrangement change of liquid crystal molecules under the electric field to form a gradient refractive index lens.

[0059] In the above embodiment, the design of the display module 11 can provide a highly personalized virtual reality experience. Not only does the image processor achieve efficient scene rendering, but the degree adjustment of the optical lens also solves the vision difference of different patients, ensuring that each patient can obtain a comfortable and clear visual experience. This design is particularly important for patients who use virtual reality devices for a long time, as it helps to reduce visual fatigue and improve the overall user experience.

[0060] In some embodiments, the sound module 12 is arranged in the humanoid wearing body and located in the head region, which includes an audio array composed of at least 8 speakers or includes a headphone device, for playing sound based on the training task scene. The use of multiple speakers to form an audio array can produce more stereoscopic and directional sound effects. The design of the audio array allows the sound to be dynamically adjusted in direction and volume according to the position of the objects in the virtual scene and the patient's viewing angle. This design can provide a three-dimensional spatial audio experience, simulating the sound sources 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 time delay of each speaker. For example, simulating footsteps at a distance, wind at a distance, or the collision sound of an object, the patient can perceive the direction from which the sound comes.

[0061] Compared with the sound array, the earphone can provide a more focused and isolated auditory experience, reduce external noise interference, and further enhance the immersion of the virtual scene. The earphone can use an in-ear earphone or a wraparound earphone. Compared with the sound array, the earphone can provide a more focused and isolated auditory experience, reduce external noise interference, and further enhance the immersion of the virtual scene. The earphone can be configured with 3D spatial audio technology, so that the sound can simulate various positions in the virtual world of the training task scene, and be adjusted 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 scenarios that require high interaction and reaction.

[0062] In some embodiments, the temperature adjustment module 13 includes at least one set of cooling and heating devices arranged inside the humanoid wearing body. The cooling and heating devices in the same set are arranged adjacent to each other for temperature adjustment of the same part of the patient; when there are more than two sets of cooling and heating devices, each set is arranged in a temperature sensitive area of the patient in the humanoid wearing body. These temperature sensitive areas can be parts that are particularly sensitive to temperature changes, such as wrists, necks, abdomens, or limbs, etc. By precisely adjusting the temperature of these areas, the patient's comfort can be effectively improved, and the body temperature can be adjusted. The cooling and heating devices adjust the perceived temperature of the wearer through heat exchange with the temperature sensitive area. The cooling device lowers the temperature by absorbing heat, while the heating device increases the temperature by releasing heat, which can effectively avoid comfort problems caused by temperature discomfort when wearing the head-mounted device for a long time. Alternatively, the cooling device can use multiple semiconductor cooling plates, and the heating device can use multiple resistance heating plates; or the entire temperature adjustment module 13 can use a small air conditioner compressor to cool or heat the environment inside the humanoid wearing body. It can be understood that the cooling or heating devices in each set can be controlled to the same temperature, or can be controlled to different temperatures, so as to simulate the temperature difference experience of different parts of the body, such as a fire scene, a cooking scene, etc.

[0063] Further, the temperature adjustment module 13 is used to control the temperature based on the training task scene. Optionally, the temperature adjustment module 13 is configured to adjust the temperature in the humanoid wearing body to 0-45°C. The core function of the temperature adjustment module 13 is to automatically adjust the temperature according to the training task scene. For example, in a virtual reality (VR) or augmented reality (AR) environment, the temperature changes in the scene (such as seasonal changes in the virtual world, weather changes, etc.) can be fed back to the patient in real time through this module, enhancing the sense of immersion.

[0064] In some embodiments, the humidity adjustment module 14 is arranged in the humanoid wearing body, located in the head and neck area, which is very sensitive to humidity changes and can quickly affect the comfort of the patient. The humidity adjustment module 14 can include humidification devices and dehumidification devices for controlling humidity based on the training task scenario. The humidification device increases the humidity of the environment by releasing water vapor or moisture into the interior of the humanoid wearing body; the dehumidification device reduces the humidity in the humanoid wearing body by absorbing moisture or discharging moisture, thereby maintaining a suitable humidity environment. Optionally, the humidification device can use a small humidifier to provide moisture through evaporation or ultrasonic technology, while the dehumidification device can use condensation, moisture-absorbing materials, or air circulation (such as ventilation equipment) to reduce humidity, both of which complement each other to ensure that the environmental humidity remains stable within the desired range. Optionally, the humidity adjustment module 14 can adjust the environmental humidity in the humanoid wearing body within the range of 30%-90%, flexibly adapting to the needs of different scenarios. For example, in a simulated rainforest scenario, the humidity adjustment module 14 can increase the humidity, while in a desert scenario, it can decrease the humidity to enhance the immersion of the virtual environment.

[0065] In the above embodiments, the humidity adjustment module 14 can monitor the humidity in the humanoid wearing body in real time and respond quickly to changes in the environment or physiological signals of the patient to ensure that the humidity is within the optimal range. Through cooperation with the VR rehabilitation suit, the humidity adjustment module 14 can ensure that the experience of each scenario matches the humidity changes, improving the overall interaction and immersion.

[0066] In some embodiments, the odor adjustment module 15 is arranged in the humanoid wearing body, located in the head area, which can include a perfume capsule compartment for installing perfume capsules with corresponding odors based on the training task scenario. By installing perfume capsules that match the scenario through the training task scenario. These capsules contain specific odor perfumes to simulate the odor experience related to the scenario. For example, in a simulated forest scenario, the capsules may contain grass or soil odors, and in a simulated beach scenario, they may contain salty sea breeze odors. When the patient wears the device, the odor adjustment module 15 can automatically select the corresponding perfume capsules and activate them according to the requirements of the training task scenario, such as setting multiple capsule compartments, opening the corresponding capsule compartment door for a specific scenario to release the corresponding odor. By replacing the capsules, the change in odor can be flexibly adjusted to enhance the immersion. The perfume capsules can be disposable or reusable.

[0067] In some embodiments, the smell adjusting module 15 includes a scent storage tank for storing the corresponding scent of the training task scenario, a scent sprayer connected to the scent storage tank for spraying the scent inside the humanoid wearable body, and a scent concentration detection unit for detecting the scent concentration inside the humanoid wearable body. The scent sprayer is further configured to adjust the spraying amount based on the scent concentration. This unit can detect the scent concentration inside the rehabilitation suit in real time, ensuring that it is not too strong or too weak. According to the concentration detection result, the rehabilitation suit can automatically adjust the spraying amount of the scent sprayer, so that the scent always maintains within the ideal concentration range.

[0068] In some training task scenarios that focus on smell training, the rehabilitation suit can help judge the patient's reaction when facing a specific smell by detecting their micro-expression changes and adjust the scent concentration in a timely manner according to the emotional changes. The micro-expression recognition module 26 is connected in real time with the scent concentration detection unit and the scent sprayer, so that emotional changes can be quickly captured and fed back to the scent sprayer. This not only improves the training effect of the patient, but also ensures that they do not have adverse reactions to the smell when they are uncomfortable or anxious. The micro-expression recognition module 26 identifies emotional states by analyzing the patient's facial expressions (such as frowning, eye changes, mouth movements, etc.), especially identifying negative emotions such as discomfort, tension or anxiety. Once the patient shows signs of discomfort or tension, the rehabilitation suit can automatically reduce the spraying amount of the scent sprayer to prevent strong smells from causing discomfort or further increasing tension. This not only ensures the comfort of the smell, but also reduces the stimulation that may cause emotional fluctuations.

[0069] In some embodiments, the wind speed adjusting module 16 includes at least one fan installed inside the humanoid wearable body corresponding to the patient's face, which is configured to adjust the wind amount based on the feedback of the training task scenario and / or the patient's walking speed. For example, when the patient is walking, the wind speed can simulate the wind feeling during walking, and the faster the pace, the more wind is added; while standing or walking slowly, the wind amount will be reduced accordingly to simulate different wind speed changes.

[0070] Optionally, the fan can be located on both sides of the display or in an up-down position. This layout helps to directly simulate the wind feeling experienced by the patient's face, making the wind in the virtual environment highly matched with the patient's actual experience. The wind speed adjusting module 16 simulates the natural wind feeling in the virtual reality scenario by combining the feedback of walking speed and environmental wind speed. Through precise control and adjustment, the rehabilitation suit can adjust the wind amount according to the patient's motion state and the dynamic changes of the scene, enhancing the patient's immersive experience, especially suitable for walking, running and other scenes in virtual reality.

[0071] In some embodiments, the gas partial pressure adjusting module 18 comprises a gas supply assembly, a pressure adjusting device, a gas content monitoring device, and a safety protection device.

[0072] Further, the gas supply assembly comprises a gas source bottle for storing a target gas based on the training task scenario, wherein the target gas comprises at least one of hydrogen, oxygen, nitric oxide, carbon dioxide, or a mixed gas. Hydrogen has selective antioxidant effect and can neutralize toxic free radicals, such as for rehabilitation scenarios of cerebral ischemia-reperfusion injury, Parkinson's disease, and metabolic syndrome. Oxygen can greatly increase the dissolved oxygen content in the blood, promote tissue repair, and inhibit the growth of anaerobic bacteria, which is suitable for rehabilitation scenarios of carbon monoxide poisoning, gas embolism, and decompression sickness. Nitric oxide is a selective pulmonary vasodilator that directly acts on the pulmonary blood vessels after inhalation, reducing pulmonary arterial pressure, and is suitable for assisted rehabilitation of adult respiratory distress syndrome. Mixed gas such as helium-oxygen mixture can reduce airway resistance and improve ventilation efficiency, which is suitable for rehabilitation scenarios of severe asthma / COPD acute exacerbation.

[0073] Further, the pressure adjusting device is used for monitoring and adjusting the total pressure of the sealed environment inside the humanoid wearing body; this device ensures that the total gas pressure inside the head-mounted device matches the requirements of the virtual scene during virtual environment simulation. According to the pressure requirements provided by the training task scenario, the device adjusts the gas supply amount of the gas source, the discharge of the gas, etc., to ensure that the gas pressure is always within the preset safe range.

[0074] Further, the gas content monitoring device is used for monitoring the actual content of the target gas, and the gas supply assembly is further used for adjusting 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 assembly automatically adjusts the supply amount of the target gas to maintain stable gas concentration and ensure the true simulation of the virtual environment.

[0075] Further, the safety protection device comprises a safety valve and an alarm, which are used for adjusting the total gas pressure inside the humanoid wearing body and / or the content of the target gas by opening the safety valve to reduce the total gas pressure or the content of the target gas. The safety valve is a key protection device that automatically opens to release excess gas or adjust the gas pressure when the internal gas pressure is too high or the gas concentration exceeds the safe range, to avoid equipment damage or patient discomfort. The alarm serves as an auxiliary safety device that issues a warning when detecting abnormal gas pressure or concentration, prompting the patient to take necessary measures or stop using the device to ensure safety. Through the automatic adjustment of the safety valve and the prompt of the alarm, the rehabilitation suit can respond to dangers in a timely manner and reduce the risk of accidents.

[0076] In some embodiments, the tactile pressure feedback module 17 is arranged inside the humanoid wearing body corresponding to the position of the exoskeleton movement module 4, for applying pressure and vibration to the target movement part to simulate the touch feeling after the target movement part contacts with an object. Optionally, the tactile pressure feedback module 17 includes an actuator, a vibrator and a pressure pump air bag. The actuator is used to provide physical pressure to the target movement part of the patient to simulate the pressure feeling when the target part contacts with an object, and the size of the pressure can be accurately controlled to ensure the naturalness and authenticity of the tactile feedback. The vibrator is used to provide vibration feeling, which helps to simulate the subtle changes when touching different material surfaces, such as surface roughness, vibration transmission, etc., thereby improving the diversity and authenticity of the tactile feedback. The pressure pump air bag is used to promote the passive contraction of the limb muscles by periodic inflation and deflation, which can simulate different contact forces, so that the limb obtains natural response in the virtual training process. Through the cooperation of the three, the tactile pressure feedback module 17 can simulate various tactile feelings when contacting with an object in reality, enhance the immersion and effectiveness of the rehabilitation training, and at the same time help the patient gradually recover the feeling and coordination of limb movement.

[0077] 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 galvanic skin response 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 physiological state of the patient in real time, and the output of the sensory stimulation module 1 can be adjusted according to these signals. The movement posture monitoring module 21 is used to monitor the movement posture and action of the patient, which helps to analyze the movement range and angle of the limb, and to evaluate the correctness and effect of movement execution. The heart rate monitoring module 22 is used to monitor the heart rate of the patient in real time, and the body load, emotional response and recovery status of the body can be evaluated through the change of heart rate. The electromyography monitoring module 23 detects muscle electrical activity to understand the contraction of the muscle, which helps to evaluate the working state and fatigue degree of the muscle during the rehabilitation training process. The galvanic skin response monitoring module 24 is used to monitor the skin electrical response, which is used to judge the emotional state or anxiety level of the patient to strengthen the management of emotional fluctuations during the rehabilitation process. The eye movement monitoring module 25 can detect the movement of the eyeball of the patient, track the focus of the visual line, and can be used to dynamically adjust the visual angle or interaction in the virtual environment. The body temperature monitoring module can understand the comfort or tension state of the patient by measuring the body temperature. The micro-expression recognition module 26 can recognize the micro-expression of the patient's face to capture the emotional changes, and can be used to adjust the interaction or feedback in the virtual environment. The physiological signal monitoring module 2 can be integrated inside the humanoid wearing body, or can be arranged externally, which needs to reserve corresponding module interface or set up wireless transmission module on the humanoid wearing body.

[0078] In some embodiments, the motion posture monitoring module 21 comprises inertial sensors arranged in the humanoid wearing body corresponding to the target motion parts. Optionally, the number of inertial sensors is more than six, and is arranged at least at the head, middle of the upper body, both upper limbs and both lower limbs of the humanoid wearing body, to ensure that the motion information of each part can be fully collected. Optionally, the inertial sensors comprise an accelerometer, a gyroscope and a magnetometer, for obtaining the motion speed, position, joint range of motion and posture symmetry of the patient. The joint range of motion is used to evaluate the range of motion of the joint, i.e. the maximum angle or distance that the joint can move in different directions. The posture symmetry is used to analyze the symmetry of the whole body posture, to ensure the balance of the motion.

[0079] As another implementation manner, the motion posture monitoring module 21 comprises a visual capture rehabilitation garment arranged outside the humanoid wearing body, for capturing the human motion in real time through a camera; in this way, the whole body motion of the patient is observed and captured through the external camera, and the posture and speed of the motion can be obtained in real time.

[0080] Further, the motion posture monitoring module 21 is also used to send 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 is the same as the patient's motion in the training task scene. Through this accurate posture monitoring and feedback, the patient can obtain a highly consistent and realistic interactive experience in the virtual training, and the rehabilitation effect is enhanced and the immersion of the training is improved.

[0081] In some embodiments, the electromyography monitoring module 23 comprises at least one pair of electromyography electrodes arranged on the target motor part of the patient, so that the electromyography electrodes are in direct contact with the skin of the patient to monitor the surface electromyography of the target motor part; the electromyography monitoring module 23 is further configured to send the surface electromyography to the central control module 3 to obtain the muscle activation of the target motor part of the patient and the recovery of the damaged muscle; the central control module 3 is further configured to adjust the difficulty of the training task scene and output electromyography data. Optionally, the electromyography electrodes are array electrodes, such as an 8x8 grid covering the target muscle group, and the crosstalk is eliminated by spatial difference technology. For example, if the activation delay of the agonist muscle is greater than 200 ms, the exoskeleton can be controlled to apply an initial assist pulse 50 ms in advance to reconstruct the movement timing; if the antagonist muscle has an abnormal explosive discharge, the exoskeleton can be controlled to trigger reverse damping to suppress muscle spasm; if the intermuscular coordination index is less than 0.4, the exoskeleton can be controlled to reduce the movement speed, and the movement trajectory of the target motor part is guided. The electromyography monitoring module 23 realizes a triangular closed loop of “muscle-exoskeleton-virtual environment”, so that the rehabilitation process has a “predictive control” capability for the first time, which can adjust the parameters before muscle fatigue accumulates and correct the action before the compensatory mode appears, and truly realizes the directional induction of neural plasticity.

[0082] In some embodiments, the electrodermal monitoring module 24 comprises at least one electrodermal electrode arranged on the hand or foot of the patient to monitor the electrodermal signal; the electrodermal signal is usually related to factors such as the activity of sweat glands, stress response, and emotional fluctuations. The electrodermal monitoring module 24 is further configured to send the electrodermal signal to the central control module 3 to obtain the stress response level of the patient, so that the central control module 3 can adjust the difficulty of the training task scene based on the stress response level. The electrodermal monitoring module 24 adds a key psychophysiological synergistic regulation dimension to the rehabilitation suit, so that the rehabilitation process has emotional state perception and self-adaptive capability. Optionally, the electrodermal electrode is arranged in the thenar eminence region of the hand, which has a high sweat gland density and can increase the sensitivity to cognitive stress. For example, the stress response level can be classified into three levels of relaxed state, moderate tension, and excessive stress. If it is in the 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 assist force by 5% or increase the resistance by 5%, and the smell adjusting module 15 can be controlled to release a mint aroma to refresh; if it is in the moderate tension 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 it is in the excessive stress state, the training task scene can be simplified to simplify the task target or extend the completion time limit, the exoskeleton can be controlled to switch to the passive guidance mode, the display module 11 can be controlled to reduce the environmental brightness or reduce the resolution, and the sound module 12 can be controlled to reduce the volume, etc.

[0083] The skin electricity monitoring module 24 in the above embodiments realizes a triangular closed loop of "autonomic nervous feedback-mechanical support-environmental regulation", which can capture physiological signals before the patient perceives anxiety, can distinguish between motor stress and psychological anxiety, and can increase the stress tolerance threshold through gradual exposure; when the electromyography monitoring module 23 optimizes neuromuscular function, the skin electricity monitoring module 24 synchronously guards the psychological safety boundary, and the two work together to make high-intensity rehabilitation possible.

[0084] In some embodiments, the eye movement monitoring module 25 includes an eye tracker for monitoring eye movements and feeding back to the central control module 3 to adjust the perspective of the picture displayed by the display module 11. The eye tracker is used to monitor the movement trajectory of the patient's eyes, including the gaze direction, gaze point, and rapid eye movement of the eyes. By analyzing eye movement data, the rehabilitation suit can obtain the patient's visual focus point in real time and adjust the perspective of the picture of the display module 11 accordingly, so that the content seen by the patient is consistent with his visual focus, thereby providing a smoother visual experience.

[0085] Further, the eye movement monitoring module 25 can be linked with the display module 11, the sound module 12, the odor adjustment module 15, the wind speed adjustment module 16, the temperature / humidity adjustment module 14, the gas partial pressure adjustment module 18, etc. For example, in Alzheimer's memory awakening, when it is detected that the patient focuses on a specific part of the display module 11, such as a time singing for 3 seconds while annotating old photos, the display module 11 triggers photo dynamicization, such as black and white to color, character smiling, etc. For example, the odor concentration can be adjusted according to the degree of pupil dilation of the patient; the white noise playback can be adjusted according to the blinking frequency of the patient (>25 times / min, anxiety); the environmental humidity can be adjusted according to the drift rate of the gaze point to prevent fogging of optical lenses and the display module 11, etc.

[0086] In some embodiments, the micro-expression recognition module 26 includes a facial recognition camera arranged in the humanoid wearing body for micro-expression recognition and feedback to the central control module 3. Optionally, the facial recognition camera captures the patient's facial expressions, especially micro-expressions (such as subtle changes in eyebrows, small movements of mouth corners, etc.), through the camera, and these expression changes can reflect the patient's emotional or psychological state, such as happy, surprised, and nervous, etc. By analyzing micro-expressions in real time, the rehabilitation suit can feed back to the central control module 3 and possibly adjust the content or experience mode of the virtual scene based on the patient's emotional state.

[0087] Further, the micro-expression recognition module 26 can be linked with the display module 11, the sound module 12, the smell adjustment module 15, the wind speed adjustment module 16, the temperature / humidity adjustment module 14, the gas partial pressure adjustment module 18, etc. For example, if the rehabilitation suit detects that the patient shows a tense expression, the display module 11 can adjust the color tone of the content or display more relaxed images to help the patient relieve tension. When the patient shows a happy or surprised expression, the sound module 12 can play cheerful or excited sound effects; when the patient shows an anxious or confused expression, the sound effects can turn into soothing or calming music to help the patient relax. When the rehabilitation suit recognizes that the patient shows a relaxed or happy micro-expression, it can release a soothing fragrance (such as lavender, citrus, etc.); when the patient shows an anxious or tense expression, the rehabilitation suit can release a fragrance with a soothing effect to help the patient relieve stress. When the patient shows an uneasy or enthusiastic expression, the rehabilitation suit can provide a moderate wind to help the patient maintain a comfortable feeling; if the patient shows a sleepy or relaxed expression, the wind speed can be reduced to create a more quiet environment.

[0088] In some embodiments, the body temperature monitoring module includes an electronic thermometer for real-time monitoring of body temperature and feedback to the central control module 3. Optionally, the electronic thermometer is used to monitor the patient's body temperature changes in real time. Body temperature data can reflect the patient's physiological state, such as whether in a state of tension, fatigue or other physiological changes. By feeding back the body temperature data to the central control module 3, the rehabilitation suit can adjust the virtual environment or the way of interaction to ensure the patient's comfort or make adjustments according to the health status.

[0089] Further, the body temperature monitoring module can be linked with the display module 11, the sound module 12, the smell adjustment module 15, the wind speed adjustment module 16, the temperature / humidity adjustment module 14, the gas partial pressure adjustment module 18, etc. For example, if the patient's body temperature is too high or too low, the rehabilitation suit can remind the patient by displaying a warning or a warm prompt. The sound module 12 can issue a warning sound or play soothing music to remind the patient or help the patient adjust the state. When the patient's body temperature changes abnormally, the smell module can adjust the environmental fragrance to improve comfort. For example, if the body temperature is too high, the smell module can release a cool fragrance (such as mint, citrus, etc.); if the body temperature is too low, a warm fragrance (such as vanilla, cinnamon, etc.) can be released to help the patient maintain a comfortable state. When the body temperature monitoring module detects that the patient's body temperature is rising, 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 the feeling of cold caused by too much air flow, and when the patient shows 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.

[0090] In some embodiments, the heart rate monitoring module 22 comprises an electronic heart rate meter or a facial image recognition module for detecting heart rate (HR) and heart rate variability (HRV) and feeding back to the central control module 3. Optionally, the electronic heart rate meter is used to monitor the heart rate and heart rate variability of the patient. Heart rate data is an important indicator for evaluating the psychological and physiological responses of the patient, which can reveal the emotional state of the patient such as tension, anxiety, excitement, etc. By continuously monitoring the heart rate, the rehabilitation suit can provide appropriate feedback or adjustment when the patient is too nervous, improving the comfort of the interactive experience. Heart rate can also be obtained by facial image recognition by the facial image recognition module.

[0091] Further, the heart rate monitoring module 22 can be linked with the display module 11, the sound module 12, the odor adjustment module 15, the wind speed adjustment module 16, the temperature / humidity adjustment module 14, the gas partial pressure adjustment module 18, etc. For example, when the heart rate monitoring module 22 detects abnormal heart rate (such as too fast or too slow), the display module 11 can display the heart rate data in real time, provide warning information or health tips, or the display module 11 can reduce the display resolution appropriately, etc. to reduce the model effect. In the post-traumatic stress disorder (PTSD) treatment scenario, if the heart rate variability triangular index is greater than 40, the reward mechanism can be activated, and the personal preference music can be played by the sound module 12. In the hypercapnia intervention scenario, if the total power of the heart rate variability is less than 1000ms2, in order to prevent respiratory acidosis, the CO2 concentration can be reduced to 0.03% by the gas partial pressure adjustment module 18. In the deep sea diving simulation scenario, if the heart rate is less than 50bpm, it can be considered that the vagus nerve of the patient is excessively activated, at this time the air containing 3% CO2 is injected by the gas partial pressure adjustment module 18 to stimulate the patient to breathe; if the heart rate is greater than 180bpm, it can be considered that the patient is too excited, the O2 concentration can be increased from 14% to 21% by the gas partial pressure adjustment module 18, and the mint fragrance can be released by the odor adjustment module 15.

[0092] In the above embodiments, the present application quantifies the patient's state in real time from three aspects of motor function (muscle electricity, posture), autonomic nervous response (heart rate, skin electricity), cognitive emotional state (eye movement, micro-expression) by monitoring the motion posture, heart rate, muscle electricity, skin electricity, eye movement, micro-expression in multiple dimensions, and holographically generates the physiological portrait of the patient. If combined with AI-driven optimization, the patient's response pattern can be deeply learned, the best intervention strategy can be predicted, and the best rehabilitation effect can be achieved.

[0093] For example, in the virtual object taking and carrying upper limb training task, the simulation training task helps patients with upper limb muscle weakness to carry out upper limb movement rehabilitation training, and the patient needs to take the target object and carry it to the target position in the task scene. The exoskeleton movement module 4 in the rehabilitation suit assists the patient with weak muscle strength to move the upper limbs, and when the patient's muscle strength is strong, the damping during movement can also be increased. The display module 11 displays the scene of taking objects and the virtual avatar in the scene; the sound module 12 simulates the sound effect of successfully taking objects and placing the specified object in the specified position; the temperature adjustment module 13 is used for specific temperature training and recovery of the corresponding training muscles (high temperature training, low temperature recovery), short time extremely low temperature environment is helpful for movement recovery, and in the 30 to 40 Celsius interval, 40% humidity environment is helpful for aerobic exercise consumption; the tactile feedback module 17 simulates the vibration that occurs when the object is contacted and the pressure in the carrying process. The motion posture monitoring module 21 feeds back the patient's motion state information to the central control module 3 to adjust the task difficulty, damping size, etc., and outputs the joint torque, motion speed acceleration, tremor, etc.; the heart rate monitoring module 22 feeds back the heart rate data to the central control module 3 in real time, which is used to adjust the task intensity (or task difficulty) and add rest in time; the electromyography monitoring module 23 monitors the electromyography of the relevant execution muscles during movement and feeds 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 the immersion during the training task and adjust the task difficulty in real time; the eye movement monitoring module 25 identifies and monitors eye movement and feeds back to the central control module 3, and adjusts the display angle in time. All the above functions are controlled by the central control module 3.

[0094] For example, in the context of spinal cord injury gait training, the simulation training task helps the patient walk 300 meters on a rugged trail to reach a viewing platform. The patient is provided with visual guidance throughout the journey by the display module 11, which changes the forest trail and slope prompt light band in real time; the wind speed adjustment module 16 linearly increases with the walking speed, and when the movement speed exceeds 0.3 m / s, the patient feels the change in wind speed; the temperature / humidity module simulates the environment of forest morning mist when entering the valley area (temperature 22°C, humidity 80% RH), enhancing the sense of immersion; the tactile pressure feedback module 17 simulates the different textures of sand and grass through piezoelectric sheets, so that the patient can feel different ground conditions with each footstep; the gas partial pressure adjustment module 18 simulates the rehabilitation environment in a hyperbaric oxygen chamber, which increases blood oxygen concentration, suppresses oxidative stress, and reduces cell apoptosis to accelerate recovery. During the shape process, at the beginning of the swing phase of the gait, the exoskeleton will provide 8 Nm of flexion assistance through the hip joint to help the patient complete the swing of the pace. In the middle of the support phase, the exoskeleton increases the damping by 10% through the knee joint, thereby enhancing the stability of the gait. When foot drop is detected, the ankle joint will apply a dorsiflexion correction pulse to correct the position of the drooping foot. According to the asymmetry of the pace, 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 inclination 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 overexertion and ensure the safety of the training. Through these technical means, spinal cord injury patients can conduct gait training in a virtual environment, gradually recovering the ability to walk, while enhancing the immersion and interactivity of the training.

[0095] The virtual reality rehabilitation suit in the embodiment of the present application can realize four closed-loop controls:

[0096] 1. Interaction between scene and exoskeleton: According to the requirements of the virtual task, the exoskeleton dynamically adjusts the assistance and damping mode, for example, increases the assistance when lifting heavy objects to help the patient complete the task.

[0097] 2. Feedback of physiological signals and exoskeleton: When it is detected that the patient has spasm (through muscle electrical signal burst), the exoskeleton automatically applies damping to reduce muscle tension; and when the patient has insufficient muscle strength, the exoskeleton increases assistance to help the patient complete the action.

[0098] 3. Adjustment of physiological signals and environment simulation: When the patient shows anxiety (through skin electricity change or micro-expression tension detection), the system automatically adjusts the environment, such as reducing the brightness or releasing a calming aroma, to help the patient relax, or adjusts the environmental factors such as air pressure, oxygen content, temperature, etc. when necessary.

[0099] 4. Performance and scene difficulty correlation: The rehabilitation suit is equipped with multiple sensors that can monitor the patient's state in real time, including movement intention, effort level, and spasticity level. These information is fed back to the VR system through the control algorithm, which adjusts the simulation environment or task intensity in real time to ensure that the rehabilitation training is accurately matched with the patient's needs. For example, according to the patient's movement performance and action completion degree, the system will automatically adjust the difficulty of the task to ensure the individualization and adaptability of the training content, and improve the training effect.

[0100] Through the four closed-loop control system, the application can dynamically optimize the training process according to the real-time needs and state of the patient, and improve the effect of treatment and the experience of the patient.

[0101] Those of ordinary skill in the art will appreciate that the exemplary components, systems and methods described herein in connection with the described embodiments can be implemented in hardware, software, or a combination of both. The described functions can be implemented in hardware, for example as an electronic circuit, as an application specific integrated circuit (ASIC), as suitable firmware, as a plug-in, as a functional card, etc. When implemented in software, the elements of the application are the program in question and the codes segments to perform the necessary tasks. The program or the code segments can be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link.

[0102] It should be clear that the application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the application.

[0103] In the present application, the features described and / or exemplified for one embodiment can be used in the same way or in a similar way in one or more other embodiments, and / or in combination with or instead of the features of other embodiments.

[0104] The above description is only the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the embodiments of the present application can be variously changed and modified. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

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, which includes an electronic heart rate meter or a facial image recognition module arranged in the humanoid wearable body, for detecting the heart rate and heart rate variability and feeding back 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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