An immersive lower limb exercise system based on virtual reality

Abstract

The application discloses an immersive lower limb exercise system based on virtual reality, which comprises an exoskeleton, a road condition simulator, virtual reality glasses and a rack, wherein the exoskeleton is worn on the lower limbs of a patient to carry the movement of the lower limbs of the patient or to be carried by the movement of the lower limbs of the patient; the road condition simulator is used for simulating road conditions; the virtual reality glasses are worn on the head of the patient to display pictures; the exoskeleton is hung on the rack through a sling, and the road condition simulator is installed on the rack; the patient wears the virtual reality glasses and the exoskeleton, then virtual road conditions are displayed to the patient according to a program setting, and the road condition simulator simulates the displayed virtual road conditions and then moves to the feet of the patient to simulate that the patient walks on the road conditions. The application fuses virtual reality technology with exercise equipment, provides virtual pictures for the patient by using the virtual reality glasses, provides virtual road conditions in the virtual pictures, then helps the patient to walk or provides damping to the walking of the patient by using the exoskeleton to provide different walking assistance modes for the patient, so that more exercise needs can be met.

Description

Technical Field

[0001] This invention relates to virtual reality application devices, and in particular to an immersive lower limb exercise system based on virtual reality. Background Technology

[0002] Virtual reality (VR) primarily uses software to combine virtual models with reality, creating a realistic virtual visual experience that gives users a sense of immersion. Currently, VR technology has reached a relatively mature stage of development, with numerous applications and achievements. Particularly in medical rehabilitation, many rehabilitation exercise devices utilizing VR technology have been developed. These devices, combined with virtual technology, immerse patients in virtual visual effects, and then assist them with exercise, resulting in relatively ideal outcomes.

[0003] However, the applicant's research revealed that most current virtual reality-integrated exercise devices simply guide limbs through corresponding movements, failing to enable patients to flexibly and actively adapt to different exercise scenarios. For example, lower limb exercise devices primarily use exoskeletons to guide lower limb movements, but the movements are mostly fixed and cannot be actively adjusted by the patient. Furthermore, they cannot simulate actual road conditions during exercise, merely mimicking walking, resulting in low patient immersion, impacting motivation, and significantly reducing the effectiveness of the exercise due to the inability to actively exercise on different road conditions.

[0004] In response, the applicant believes that the current inability of such devices to flexibly adapt to exercise needs and to simulate road conditions are urgent technical problems that need to be solved. Once these problems are solved, the immersion and experience of patients can be effectively increased, thereby further promoting the application of virtual reality technology. Summary of the Invention

[0005] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide an immersive lower limb exercise system based on virtual reality, which uses an exoskeleton to carry lower limb movement or an exoskeleton to provide damping for lower limb movement, combined with virtual reality glasses to display virtual road conditions, and a road condition simulator to simulate virtual road conditions, thereby providing patients with a very realistic walking experience.

[0006] To achieve the above objectives, the present invention provides an immersive lower limb exercise system based on virtual reality, comprising:

[0007] An exoskeleton is worn on the patient's lower limbs to enable movement of the patient's lower limbs or to enable movement of the exoskeleton by the patient's lower limbs.

[0008] Road condition simulator, used to simulate road conditions;

[0009] Virtual reality glasses, worn on the patient's head to display images;

[0010] The exoskeleton is suspended from the frame by ropes, and the road condition simulator is mounted on the frame.

[0011] The patient wears virtual reality glasses and an exoskeleton. Then, according to the program settings, a virtual road condition is displayed to the patient. The road condition simulator simulates the displayed virtual road condition and then moves to the patient's feet to simulate the patient walking on that road condition.

[0012] As a further improvement of the present invention, the exoskeleton includes a foot cover part, a first outer support plate, a second outer support plate, a hip hinge seat, a crotch part, a suspension part, and a joint module. The suspension part is installed on the crotch part and is fixedly assembled with one end of the suspension rope.

[0013] The two sides of the crotch portion are respectively hinged to different hip hinge seats. The hip hinge seats are provided with hip hinge holes. The second outer support plate is provided with a second outer support plate hole at the corresponding position of the hip hinge hole. The hip hinge hole is assembled with the joint shaft of the joint module. This joint shaft is assembled with the corresponding second outer support plate hole. The joint module corresponding to the hip hinge seat is fixed relative to the hip hinge seat. A strap is also installed on the second outer support plate.

[0014] The first outer support plate is provided with a first outer support plate hole, and the foot sleeve part is provided with a foot sleeve hole at the corresponding position of the first outer support plate hole. The first outer support plate hole and the foot sleeve hole are both fitted onto the joint shaft of the corresponding joint module. The joint module is relatively fixed to the first outer support plate, and the joint shaft and the foot sleeve hole cannot be assembled in a relatively circumferential rotation.

[0015] The joint axis corresponding to the hip hinge hole is close to the connection between the thigh and abdomen, the joint axis corresponding to the first external support plate hole is close to the knee joint, and the foot cover is fitted onto the patient's foot and lower leg.

[0016] As a further improvement of the present invention, the joint module includes a joint shell and a joint shaft. The joint shell is fixed relative to the corresponding first outer support plate or hip hinge seat. The joint shaft includes a detection part, a transmission part, and a driven part. The transmission part is rotatably assembled relative to the corresponding first outer support plate or hip hinge seat, but cannot be rotatably assembled relative to the corresponding foot sleeve part or second outer support plate. The detection part is rotatably but not axially movable and is fitted with a first joint shaft disc. The first joint shaft disc is assembled and fixed with the corresponding first outer support plate or hip hinge seat.

[0017] The transmission part, at one end away from the first joint axle, is rotatably but not axially movable from the second joint axle. The second joint axle is fixedly assembled with the corresponding first outer support plate or hip hinge seat. The driven part is installed inside the damping element and is not rotatably assembled with the damping element. The damping element is provided with an inner driven clutch disc, which corresponds to an inner driving clutch disc, and the inner driven clutch disc can press against the inner driving clutch disc for transmission. The inner driving clutch disc is mounted on one end of the transmission sleeve, and the transmission sleeve is axially slidable but not rotatably mounted on the drive shaft. The drive shaft is connected to the output shaft of the drive motor, and the drive motor is mounted on the first fixed plate of the joint housing.

[0018] As a further improvement of the present invention, the damping component is provided with a damping groove and a damping ring, a damping block is installed in the damping groove, and a damping spring is installed between the damping block and the side wall of the damping groove. The damping spring applies an elastic force to the damping block to prevent it from rotating relative to the damping groove.

[0019] The damping block is installed on one end of the outer drive sleeve, and an external driven clutch disc is installed on the other end of the outer drive sleeve. The outer drive sleeve is rotatably but not axially movable and is fitted onto the damping component.

[0020] The outer driven clutch disc corresponds to the outer driving clutch disc, and the outer driven clutch disc can be pressed and driven by the outer driving clutch disc; the outer driving clutch disc is installed on one end face of the clutch seat disc, the clutch seat disc is assembled and fixed to one end of the outer clutch rod, the other end of the outer clutch rod is fitted with a clutch spring and passes through the second clutch collar and is axially slidably assembled with it, the end of the outer clutch rod away from the clutch seat disc is assembled with a nut, the nut cannot pass through the second clutch collar, the second clutch collar is installed on the clutch sleeve, the clutch sleeve is fitted on the transmission sleeve and is assembled and fixed with it, the clutch spring applies a spring force to the clutch seat disc to prevent it from moving towards the second clutch collar.

[0021] As a further improvement of the present invention, the clutch sleeve is further fitted with a first clutch collar, which is fitted on at least two clutch screws and screwed onto them. The clutch screws are sequentially fitted with a first fixed plate, a second fixed plate, and a third fixed plate, which can rotate circumferentially but cannot move axially. The first fixed plate, the second fixed plate, and the third fixed plate are all installed in the joint housing. The second fixed plate and the third fixed plate are located on both sides of the first clutch collar. The clutch belt passes around the portion of each clutch screw located between the first fixed plate and the second fixed plate and forms a belt drive mechanism. One of the clutch screws is connected to the output shaft of the clutch motor, and the clutch motor is mounted on the first fixed plate.

[0022] As a further improvement of the present invention, the first clutch collar is also assembled with one end of the input shaft of the displacement sensor, and the displacement sensor is mounted on the first fixed plate;

[0023] An encoder disk is installed on the detection part, and the edge of the encoder disk is inserted into the encoder. The encoder is installed on the corresponding first joint shaft disk.

[0024] As a further improvement of the present invention, a damping fixing ring is installed on the second joint shaft disk; the outer wall of the damping ring can be pressed against the friction block to apply rotational damping to the damping ring; a friction shaft is installed on the friction block, the friction shaft is installed in the friction shaft sleeve and can be axially slidably assembled with it, one end of the friction shaft installed in the friction shaft sleeve cannot pass out of the friction shaft sleeve, the friction shaft sleeve passes through the damping fixing ring and can be axially slidably assembled with it, and the end of the friction shaft sleeve away from the friction block is assembled with the pressure block, a friction spring is installed between the end of the friction shaft sleeve installed in the friction shaft sleeve and the pressure block, a spring plate is installed on the part of the friction shaft sleeve between the pressure block and the damping fixing ring, the spring plate applies a spring force to the friction shaft sleeve to resist its movement toward the friction block, and the friction spring is used to apply a spring force to the friction shaft to resist the friction shaft movement toward the pressure block;

[0025] The end face of the pressure block is pressed against the inner wall of the damping adjustment sleeve. A damping adjustment block is also provided on the inner wall of the damping adjustment sleeve. An adjustment arc surface is provided on the damping adjustment block. The two ends of the adjustment arc surface are at different vertical distances from the axis of the damping adjustment sleeve.

[0026] As a further improvement of the present invention, the damping adjustment sleeve is rotatably fitted onto the outer drive sleeve and the damping component, and a damping worm gear ring is provided on the outer wall of the damping adjustment sleeve. The teeth of the damping worm gear ring mesh with the damping worm portion to form a worm gear transmission structure. The damping worm portion is set on the worm shaft. The worm shaft is rotatably mounted on the bearing seat, and a driven gear is mounted on the worm shaft. The driven gear meshes with the driving gear for transmission. The driving gear is mounted on the output shaft of the damping motor. The damping motor is mounted on the bearing seat, and the bearing seat is mounted on the joint housing.

[0027] As a further improvement of the present invention, the road condition simulator includes a ring guide rail device, a ring drive device, an adjustment module, and a road condition module. Multiple road condition modules are installed on corresponding ring guide rail devices. The ring drive device is assembled with the corresponding road condition module to drive the road condition modules on the same ring guide rail device to move cyclically to the patient's feet. Multiple adjustment modules correspond one-to-one with different road condition modules on the same ring guide rail device to adjust the corresponding road condition modules to obtain different road conditions. There are two ring guide rail devices, each corresponding to one of the patient's two feet. The road condition modules move cyclically on the corresponding ring guide rail devices to simulate walking.

[0028] As a further improvement of the present invention, the road condition module includes a lower frame, a middle frame, and an upper frame. The outer walls of both sides of the upper frame are respectively hinged to one end of different upper frame poles. The other end of the upper frame pole passes through the upper frame pole slot. The upper frame pole slot is set in the upper frame pole seat. The upper frame pole seat is installed on the middle frame. An upper frame pressure plate is engaged and slidably installed on the upper frame pole seat. The upper frame pressure plate is installed on one end of the upper frame locking plate. The upper frame locking plate is provided with a rack portion. The rack portion meshes with the locking plate gear for transmission. The locking plate gear is fitted on the locking plate gear shaft. The locking plate gear shaft and the middle frame are rotatably assembled. A gear shaft collar is installed on the locking plate gear shaft. The gear shaft collar is assembled and fixed to one end of the unlocking cable.

[0029] The bottom of the upper frame is also pressed against the upper frame adjusting blocks of two upper frame adjusting components. The upper frame adjusting components include an upper frame cable and an upper frame push shaft. One end of the upper frame push shaft is fixedly assembled with the upper frame adjusting block. The upper frame push shaft is assembled with the upper frame cable block, and the upper frame cable block is assembled with one end of the upper frame cable. The other end of the upper frame cable passes around the upper frame guide wheel, passes through the middle frame, and is assembled with one end of the upper frame pull shaft. The other end of the upper frame pull shaft passes through the lower frame and is assembled with the upper frame pull ring. The upper frame pull shaft and the lower frame are axially slidably assembled. An upper frame spring is fitted on the portion of the upper frame push shaft located between the upper frame cable block and the middle frame. The upper frame spring applies a spring force to the upper frame cable block to resist its movement towards the upper frame adjusting block. The upper frame guide wheel is rotatably mounted on the middle frame.

[0030] The release cable passes through the middle frame and is assembled with one end of the release shaft. The other end of the release shaft passes through the lower frame and is assembled with the release ring. The release shaft and the lower frame are axially slidably assembled.

[0031] The bottom two ends of the middle frame are hinged to one end of the corresponding middle frame rod via different middle frame pivots. The other end of the middle frame rod passes through the middle frame rod groove, which is located on the middle frame rod seat. The middle frame rod seat is installed on the lower frame. The middle frame rod seat engages with and slides with the lower frame pressure plate. The lower frame pressure plate presses the middle frame rod tightly into the middle frame rod groove to fix the middle frame rod. The lower frame pressure plate is installed on the lower frame lock seat. The lower frame lock seat is assembled with one end of the lower frame lock seat rod. The other end of the lower frame lock seat rod is fitted with a lower frame spring and passes through the lower frame shaft plate, where it slides with the lower frame shaft plate. The lower frame shaft plate is installed on the lower frame. The lower frame spring applies a spring force to the lower frame lock seat, pushing it toward the middle frame rod.

[0032] The bottom surface of the central frame is also pressed against the central frame adjusting blocks of the two central frame adjusting assemblies. The central frame adjusting assembly includes a central frame push shaft, a first central frame optical shaft, a second central frame optical shaft, and a central frame cable. One end of the central frame push shaft and one end of the second central frame optical shaft are respectively assembled with the central frame adjusting block. The other end of the second central frame optical shaft is inserted into the central frame shaft tube and is axially slidably assembled with it. The central frame shaft tube is installed on the lower frame. The central frame push shaft is assembled with the central frame cable block. The central frame cable block is axially slidably mounted on the first central frame optical shaft. The two ends of the first central frame optical shaft are respectively assembled with the lower shaft frame and the lower frame. A central frame spring is mounted on the part of the first central frame optical shaft located between the central frame cable block and the lower shaft frame. The central frame spring applies a spring force to the central frame cable block to prevent it from moving towards the central frame.

[0033] The central support cable block is assembled with one end of the central support cable. The central support cable passes around the central support guide wheel and is assembled with one end of the central support shaft. The other end of the central support shaft passes through the lower frame and is assembled with the central support ring. The central support shaft and the lower frame are axially slidably assembled. The central support guide wheel is rotatably mounted on the guide wheel frame, and the guide wheel frame is mounted on the lower frame.

[0034] The beneficial effects of this invention are:

[0035] This invention integrates virtual reality technology with exercise equipment. Virtual reality glasses provide patients with virtual images and virtual road conditions within those images. An exoskeleton then assists the patient's walking or provides damping to offer different walking assistance modes, thus meeting a wider range of exercise needs. A road condition simulator recreates virtual road conditions, allowing the patient to realistically step on different road modules for authentic feedback, significantly enhancing immersion and making the patient feel as if they are walking on a real road surface. This stimulates the patient to make corresponding walking movements, accelerating recovery.

[0036] This invention uses a road condition simulator to realistically simulate inclined roads, slopes, steps, and road surfaces with different hardness or viscosity, thereby more realistically simulating the road surface seen in virtual reality glasses. It has higher realism and experiential value, which can not only increase the fun of training for patients, but also train patients' adaptability to different road conditions, thereby improving training effectiveness and increasing the number of training subjects. Attached Figure Description

[0037] Figures 1-3 This is a schematic diagram of the structure of the present invention;

[0038] Figures 4-5 This is a structural diagram of exoskeleton 100;

[0039] Figures 6-7 This is an exploded view of part of the structure of the exoskeleton 100;

[0040] Figure 8 This is a cross-sectional view of the joint module 400 located at the center plane of the drive shaft 521 axis;

[0041] Figure 9 yes Figure 8 Enlarged view of point A in the middle;

[0042] Figure 10 This is a cross-sectional view of the joint module 400 located at the two mutually perpendicular center planes where the axis of the drive shaft 521 is located.

[0043] Figures 11-13 This is a partial structural diagram of the joint module 400, the sleeve part 110, and the first outer support plate 120.

[0044] Figure 14 This is a cross-sectional view of the joint module 400 located at the center plane of the friction shaft 611 axis;

[0045] Figures 15-17 This is a partial structural diagram of joint module 400;

[0046] Figures 18-19 This is an exploded view of part of the structure of joint module 400;

[0047] Figures 20-21 This is a structural diagram of the Road Condition Simulator 200;

[0048] Figures 22-23 This is a structural diagram of the Road Condition Module 300;

[0049] Figure 24 This is a cross-sectional view of the road condition module 300 located at the center plane of the first upper top shaft 660;

[0050] Figure 25 This is a cross-sectional view of the road condition module 300 located at the center plane of the axis of the side sliding shaft 813;

[0051] Figures 26-30 This is a partial structural diagram of the Road Condition Module 300;

[0052] Figure 31 This is a structural diagram of the road condition module 300 and the adjustment module 240;

[0053] Figures 32-33 This is a structural schematic diagram of the adjustment module 240. Detailed Implementation

[0054] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0055] See Figures 1-5 The immersive lower limb exercise system of this embodiment includes:

[0056] Exoskeleton 100 is worn on the lower limbs of patient 01 to enable movement of patient 01's lower limbs or to enable movement of exoskeleton A carried by patient 01's lower limbs.

[0057] The Road Simulator 200 is used to simulate road conditions such as uphill, downhill, left and right inclines, and uneven steps.

[0058] Virtual reality glasses are worn on a patient's head to display images, which can be entirely virtual or a combination of virtual and reality. In this embodiment, the virtual reality glasses can be VR glasses, MR glasses, etc.

[0059] The exoskeleton 100 is suspended from the frame 02 by ropes 161, and the road condition simulator 200 is mounted on the frame 02. An elastic cloth 03 is installed on the frame 02 at the point where the patient 01 steps on the road condition simulator 200. The elastic cloth 03 is elastic, which serves two purposes: firstly, to separate the frame 02 from the road condition simulator 200, reducing the probability of injury to the patient 01; and secondly, to flexibly adapt to different shapes of the road condition simulator 200 through its own elasticity.

[0060] When in use, the patient wears virtual reality glasses and exoskeleton 100, and then virtual road conditions are displayed to the patient according to the program settings. The road condition simulator 200 simulates the displayed virtual road conditions and then moves to the patient's feet to simulate the patient walking on the road conditions.

[0061] See Figures 1-12 The exoskeleton 100 includes a foot cover portion 110, a first outer support plate 120, a second outer support plate 130, a hip hinge seat 140, a crotch portion 150, a suspension portion 160, and a joint module 400. The suspension portion 160 is mounted on the crotch portion 150 and is fixedly attached to one end of a suspension rope 161, thereby suspending the entire exoskeleton 100 using the suspension rope. The crotch portion 150 is hinged to different hip hinge seats 140 on both sides. Each hip hinge seat 140 has a hip hinge hole 141. The second outer support plate 130 has a second outer support plate hole 131 corresponding to the hip hinge hole 141. The hip hinge hole 141 is assembled with the joint axis 460 of the joint module 400. This joint axis 460 is also assembled with the corresponding second outer support plate hole 131, thus achieving the hinged assembly of the hip hinge seat 140 and the second outer support plate 130. The joint module 400 corresponding to the hip hinge seat 140 is fixed relative to the hip hinge seat 140 and can drive the corresponding joint axis 460 to rotate, thereby driving the second outer support plate 130 to rotate relative to the hip hinge seat 140 around this joint axis 460. A strap 170 is also installed on the second outer support plate 130, which is tightened around the patient's thigh during use.

[0062] The first outer support plate 120 and the second outer support plate 130 are slidably assembled and fixed by bolts, allowing the total length of the first outer support plate 120 and the second outer support plate 130 to be adjusted according to the thigh and calf parameters of different patients during use. The first outer support plate 120 is provided with a first outer support plate hole 121, and the foot sleeve portion 110 is provided with a foot sleeve hole 111 corresponding to the first outer support plate hole 121. Both the first outer support plate hole 121 and the foot sleeve hole 111 are fitted onto the joint axis 460 of the corresponding joint module 400. The joint module 400 is relatively fixed to the first outer support plate 120, and the joint axis 460 and the foot sleeve hole 111 cannot be rotated relative to each other. After the joint module 400 is activated, it can drive the corresponding joint axis 460 to rotate, thereby driving the foot sleeve portion 110 to rotate relative to the first outer support plate 120 around the corresponding joint axis 460.

[0063] The joint axis 460 corresponding to the hip hinge hole 141 is close to the connection between the thigh and the abdomen, and the joint axis 460 corresponding to the first outer support plate hole 121 is close to the knee joint. The foot cover part 110 is fitted onto the patient's foot and lower leg. In use, the rotation of the foot cover part 110 relative to the first outer support plate 120 can cause the lower leg to rotate relative to the thigh around the knee joint. The rotation of the first outer support plate 120 relative to the hip hinge seat 140 can cause the connection between the thigh and the abdomen to rotate (front and back direction). The rotation of the hip hinge seat 140 relative to the crotch part 150 can cause the thigh to rotate outward.

[0064] See Figures 1-19 The joint module 400 includes a joint housing 410 and a joint shaft 460. The joint housing 410 is fixed relative to the corresponding first outer support plate 120 or hip hinge seat 140. The joint shaft 460 includes a detection part 461, a transmission part 462, and a driven part 463. The transmission part 462 is rotatably assembled relative to the corresponding first outer support plate 120 or hip hinge seat 140, but cannot be rotatably assembled relative to the corresponding foot sleeve part 110 or second outer support plate 130. A first joint shaft disc 464 is rotatably but not axially movable on the detection part 461. The first joint shaft disc 464 is assembled and fixed to the corresponding first outer support plate 120 or hip hinge seat 140. An encoder disc 541 is installed on the detection part 461. The edge of the encoder disc 541 is inserted into an encoder 540, and the encoder 540 is installed on the corresponding first joint shaft disc 464. In use, as long as the joint shaft 460 rotates, it will drive the encoder disk 541 to rotate, thereby enabling the encoder 540 to detect the angle of rotation.

[0065] The transmission part 462, at one end away from the first joint axle plate 464, is rotatably but not axially movable to the second joint axle plate 465. The second joint axle plate 465 is fixedly assembled with the corresponding first outer support plate 120 or hip hinge seat 140. A damping fixing ring 466 is installed on the second joint axle plate 465. The driven part 463 is installed in the damping member 420 and is not rotatably assembled with the damping member 420. The damping member 420 is provided with a damping groove 421, a damping ring 422, and an inner driven clutch plate 424. A damping block 491 is installed in the damping groove 421. A damping spring 423 is installed between the damping block 491 and the side wall of the damping groove 421. The damping spring 423 applies a spring force to the damping block 491 to prevent it from rotating relative to the damping groove 421.

[0066] The damping block 491 is mounted on one end of the outer drive sleeve 490, and an outer driven clutch disc 492 is mounted on the other end of the outer drive sleeve 490. The outer drive sleeve 490 is rotatably but non-axially movable and is fitted onto the damping component 420. The inner driven clutch disc 424 and the outer driven clutch disc 492 correspond to the inner driving clutch disc 471 and the outer driving clutch disc 484, respectively. The inner driven clutch disc 424 can be pressed and driven by the inner driving clutch disc 471, and the outer driven clutch disc 492 can be pressed and driven by the outer driving clutch disc 484. The inner driving clutch disc 471 and the outer driving clutch disc 484 are respectively mounted on one end of the transmission sleeve 470 and one side end face of the clutch seat disc 483. The transmission sleeve 470 is axially slidable but not relatively circumferentially rotatable on the drive shaft 521. The clutch seat 483 is fixedly assembled with one end of the outer clutch rod 401. The other end of the outer clutch rod 401 is fitted with a clutch spring 485 and passes through the second clutch collar 482, where it is axially slidably assembled. The end of the outer clutch rod 401 away from the clutch seat 483 is assembled with a nut. The nut cannot pass through the second clutch collar 482. The second clutch collar 482 is mounted on the clutch sleeve 480. The clutch sleeve 480 is fitted onto the transmission sleeve 470 and fixedly assembled with it. The clutch spring 485 applies a spring force to the clutch seat 483 to prevent it from moving toward the second clutch collar 482.

[0067] The clutch sleeve 480 is further sleeved with a first clutch sleeve ring 481, which is sleeved on and threadedly assembled with at least two clutch screws 451, which are in turn assembled with the first fixed disc 412, the second fixed disc 413 and the third fixed disc 414 for circumferential rotation and non-axial movement, the first fixed disc 412, the second fixed disc 413 and the third fixed disc 414 are all installed in the joint shell 410, the second fixed disc 413 and the third fixed disc 414 are located on both sides of the first clutch sleeve ring 481, the clutch belt 450 is wound around each clutch screw 451 between the first fixed disc 412 and the second fixed disc 413 and constitutes a belt transmission mechanism, one of the clutch screws 451 is connected with the output shaft of the clutch motor 530, and the clutch motor 530 is installed on the first fixed disc 412. After the clutch motor 530 is started, each clutch screw 451 can be driven to rotate, so that the clutch sleeve 480 moves along the axial direction to control the clutch state of the inner driven clutch disc 424 and the inner driving clutch disc 471 and the clutch state of the outer driven clutch disc 492 and the outer driving clutch disc 484.

[0068] The first clutch sleeve ring 481 is further assembled with one end of the input shaft 511 of the displacement sensor 510, and the displacement sensor 510 is installed on the first fixed disc 412. When the clutch sleeve 480 moves, the input shaft 511 moves axially, so that the displacement sensor 510 detects the displacement of the clutch sleeve 480 to determine the clutch state of the inner driven clutch disc 424 and the inner driving clutch disc 471 and the clutch state of the outer driven clutch disc 492 and the outer driving clutch disc 484.

[0069] The drive shaft 521 is connected with the output shaft of the drive motor 520, the drive motor 520 is installed on the first fixed disc 412, and after the drive motor 520 is started, the drive shaft 521 can be driven to rotate, so that the transmission sleeve 470 and the clutch sleeve 480 rotate synchronously, the transmission sleeve 470 and the clutch sleeve 480 can drive the inner driving clutch disc 471 and the outer driven clutch disc 492 to rotate respectively through the corresponding inner driving clutch disc 471 and outer driving clutch disc 484, so as to drive the joint shaft 460 to rotate to provide assistance at the joint.

[0070] Referring to Figures 8-16, preferably, the outer wall of the damping ring 422 can be tightly attached to the friction block 610 to apply rotational damping to the damping ring 422, that is, to the joint shaft 460. The friction block 610 is provided with a friction shaft 611, which is axially slidably installed in a friction shaft sleeve 620. The end of the friction shaft 611 installed in the friction shaft sleeve 620 cannot pass through the friction shaft sleeve 620. The friction shaft sleeve 620 passes through the damping fixing ring 466 and is axially slidably installed in the damping fixing ring 466. The end of the friction shaft sleeve 620 away from the friction block 610 is installed in the pressing block 630. The friction spring 642 is installed between the end of the friction shaft sleeve 620 installed in the friction shaft sleeve 620 and the pressing block 630. The spring sheet 641 is installed on the part of the friction shaft sleeve 620 between the pressing block 630 and the damping fixing ring 466. The spring sheet 641 applies elastic force to the friction shaft sleeve 620 to prevent the friction shaft sleeve 620 from moving towards the friction block 610. The friction spring 642 applies elastic force to the friction shaft 611 to prevent the friction shaft 611 from moving towards the pressing block 630.

[0071] The end surface of the pressing block 630 is tightly attached to the inner wall of the damping adjusting sleeve 440. The inner wall of the damping adjusting sleeve 440 is further provided with a damping adjusting block 441, which is provided with an adjusting arc surface. The vertical distance between the two ends of the adjusting arc surface and the axis of the damping adjusting sleeve 440 is different, so that the pressure between the friction block 610 and the damping ring 422 is different when the adjusting arc surface at different positions is in contact with the pressing block 630, thereby adjusting the rotational damping of the damping ring 422 (joint shaft 460).

[0072] The damping adjusting sleeve 440 is circumferentially rotatable and axially immovable and is sleeved outside the outer drive sleeve 490 and the damping member 420. The outer wall of the damping adjusting sleeve 440 is provided with a damping worm gear ring 431. The teeth of the damping worm gear ring 431 are engaged with the damping worm portion 432 to form a worm gear transmission structure. The damping worm portion 432 is provided on the worm shaft 601, which is circumferentially rotatable and axially immovable and is installed on the shaft seat 411. The worm shaft 601 is provided with a driven gear 433, which is in meshing transmission with a driving gear 434 installed on the output shaft of the damping motor 550. The damping motor 550 is installed on the shaft seat 411, which is installed on the joint shell 410. The damping motor 550 can drive the worm shaft 601 to rotate when it is started, which drives the damping adjusting sleeve 440 to rotate to adjust the pressure between the adjusting arc surface at different positions and the pressing block 630, thereby adjusting the pressure between the friction block 610 and the damping ring 422. This pressure affects the friction force between the friction block 610 and the damping ring 422, that is, the rotational damping of the damping ring 422 (joint shaft 460) relative to the friction block 610.

[0073] Preferably, a shell cover 415 is mounted on the joint shell 410, which, after being assembled with the joint shell 410, wraps the structure inside the joint module 400.

[0074] Figure 10 In the unassisted state, the driving motor 520 cannot drive the joint shaft 460 to rotate. In this embodiment, there is a use state:

[0075] 1. Full assistance, in which Figure 10 With the damping member 420 as a reference, the clutch sleeve 480 moves to the maximum displacement, and in this process, the outer driving clutch disc 484 first compresses the clutch spring 485 and moves the inner driving clutch disc 471 towards the inner driven clutch disc 424 until the outer driving clutch disc 484 and the outer driven clutch disc 492 are in compression, at which point the driving motor 520 outputs power through the transmission sleeve 470 and the clutch sleeve 480 to the damping member 420 and the outer drive sleeve 490 to provide full driving force to the joint shaft 460. At this time, the friction block 610 is separated from the damping ring 422 to avoid affecting the rotation of the joint shaft 460.

[0076] 2. Half assistance, in which Figure 10 With the damping member 420 as a reference, the clutch sleeve 480 moves to the maximum displacement, and in this process, the outer driving clutch disc 484 first compresses the clutch spring 485 and moves the inner driving clutch disc 471 towards the inner driven clutch disc 424 until the outer driving clutch disc 484 and the outer driven clutch disc 492 are in compression, at which point the driving motor 520 outputs power through the transmission sleeve 470 and the clutch sleeve 480 to the damping member 420 and the outer drive sleeve 490 to provide full driving force to the joint shaft 460. At this time, the friction block 610 is separated from the damping ring 422 to avoid affecting the rotation of the joint shaft 460. This state is to delay the provision of assistance to the patient, at which time the damping member 420 and the outer drive sleeve 490 can squeeze the damping spring 423 to obtain a certain angle of relative rotation (the driving motor 520 uses a servo motor, and when the damping member 420 rotates, the clutch sleeve 480 cannot rotate due to the restraint of the driving shaft 521, that is, the outer drive sleeve 490 cannot rotate). At this time, the patient drives the joint shaft 460 to rotate (the sleeve foot part 110 rotates relative to the first outer support plate 120, and the second outer support plate 130 rotates relative to the hip articulation seat 140), and the encoder 540 detects the rotation angle until the preset angle is reached, and then the driving motor 520 is started to drive the driving shaft 521 to rotate, which drives the damping member 420 to rotate through the outer drive sleeve 490 to drive the joint shaft 460 to enter the assisted state. This delayed start of assistance is more suitable for the patient's rehabilitation training, as the driving motor 520 does not provide assistance at all times, and the patient must drive the joint shaft 460 by a certain angle, thereby training the patient's lower limb strength, but without increasing the load too much to affect the training.

[0077] 3. Without assistance, that is Figure 10 state, the driving motor cannot drive the joint shaft 460 to rotate, and the patient can drive the joint shaft 460 to rotate by his own strength. Then the damping motor 550 can be started to drive the damping adjustment sleeve 440 to rotate to adjust the pressure (friction) of the friction block 610 and the damping ring 422. This friction is the load when the patient exercises, so that the patient's leg strength can be gradually exercised to train for subsequent walking. Of course, when used in combination with the road condition simulator 200, the feeling of walking on muddy roads, deserts and other road conditions can be simulated by increasing the damping, because the walking resistance is obviously larger in these road conditions, thereby combining virtual reality glasses and road condition simulator 200 to increase the immersion of the patient.

[0078] Referring to Figures 1-3 , Figures 20-33 , the road condition simulator 200 includes a ring-shaped guide rail device 210, a ring-shaped driving device 220, a square electromagnet 230, an adjustment module 240, and a road condition module 300. The road condition module 300 is multiple and installed on the corresponding ring-shaped guide rail device 210. The ring-shaped driving device 220 is assembled with the corresponding road condition module 300 to drive the road condition modules 300 on the same ring-shaped guide rail device 210 to move one by one to the feet of the patient 01. The adjustment module 240 is multiple and one-to-one corresponds to different road condition modules 300 on the same ring-shaped guide rail device 210 to adjust the corresponding road condition modules 300 to obtain different road conditions. The ring-shaped guide rail device 210 is two and corresponds to the two feet of the patient. The road condition module 300 moves on the corresponding ring-shaped guide rail device 210 to simulate the walking state, similar to a treadmill. The road condition module 300 simulating different road conditions enters the feet of the patient, so that the patient can directly perceive different road conditions, combined with the indication picture provided by the virtual reality glasses, to relatively truly perceive the road condition, thereby improving the immersion, increasing the interest of training, and improving the training enthusiasm of the patient. The ring-shaped guide rail device 210 and the ring-shaped driving device 220 of the present embodiment can directly use the existing ring-shaped guide rail circulating line.

[0079] Referring to Figures 20-30The road condition module 300 comprises a lower frame 310, a middle frame 320 and an upper frame 330. The two side walls of the upper frame 330 are hingedly connected to one end of different upper frame rods 370. The other end of the upper frame rods 370 passes through an upper frame rod slot 3211 which is arranged in an upper frame rod seat 321. The upper frame rod seat 321 is installed on the middle frame 320. An upper frame pressing plate 812 is clamped and slidably installed on the upper frame rod seat 321. The upper frame pressing plate 812 is installed on one end of an upper frame locking plate 810. A side sliding shaft 813 is installed on the other end of the upper frame locking plate 810. A rack portion 811 is arranged on the upper frame locking plate 810. The rack portion 811 is in meshing transmission with a locking plate gear 820. The locking plate gear 820 is sleeved on a locking plate gear shaft 821. The locking plate gear shaft 821 is circumferentially rotatably assembled with the middle frame 320. A gear shaft ring 8211 is installed on the locking plate gear shaft 821. The gear shaft ring 8211 is fixedly assembled with one end of an unlocking cable 730. The unlocking cable 730 can pull the locking plate gear shaft 821 to rotate. The locking plate gear shaft 821 drives the locking plate gear 820 to rotate so as to drive the upper frame locking plate 810 to move.

[0080] The side sliding shaft 813 is sleeved with a side sliding spring 302 and passes through a side sliding shaft seat 322 which is axially slidably assembled with the side sliding shaft seat 322. The side sliding shaft seat 322 is installed on the middle frame 320. The side sliding spring 302 applies an elastic force to the upper frame locking plate 810 to push the upper frame pressing plate 812 so as to press the upper frame pressing plate 812 against the upper frame rod 370 to lock the upper frame rod 370. When the unlocking cable 730 drives the locking plate gear shaft 821 to rotate, the upper frame locking plate 810 can press the side sliding spring 302 to separate the upper frame pressing plate 812 from the upper frame rod 370 to unlock. At this time, the upper frame rod 370 can slide relative to the upper frame rod slot 3211.

[0081] The bottom of the upper frame 330 is also pressed against the upper frame adjusting blocks 662 of two upper frame adjusting assemblies, respectively. The upper frame adjusting assemblies include upper frame pull ropes 720, upper frame push shafts 660, and upper frame guide shafts 663. One end of the upper frame push shaft 660 and one end of the upper frame guide shaft 663 are fixedly assembled with the upper frame adjusting block 662. The other end of the upper frame guide shaft 663 is assembled into the upper frame shaft tube 323 in an axially slidable manner, and the upper frame shaft tube 323 is installed on the middle frame 320. The upper frame push shaft 660 is assembled with the upper frame pull rope block 661, and the upper frame pull rope block 661 is assembled with one end of the upper frame pull rope 720. The other end of the upper frame pull rope 720 is assembled with one end of the upper frame pull shaft 722 after passing through the upper frame guide wheel 721 and the middle frame 320. The other end of the upper frame pull shaft 722 is assembled with the upper frame pull ring 7221 after passing through the lower frame 310. The upper frame pull shaft 722 is axially slidably assembled with the lower frame 310. The portion of the upper frame push shaft 660 between the upper frame pull rope block 661 and the middle frame 320 is sleeved with the upper frame spring 303, and the upper frame spring 303 applies a repulsive force to the upper frame pull rope block 661 to prevent it from moving towards the upper frame adjusting block 662. The upper frame guide wheel 721 is circumferentially rotatably installed on the middle frame 320.

[0082] Referring to Figure 24 When in use, the upper frame pull ring 7221 can pull down the upper frame pull rope 720 through the upper frame pull shaft 722. The upper frame pull rope 720 drives the upper frame push shaft 660 to move towards the upper frame 330 through the upper frame pull rope block 661 against the repulsive force of the upper frame spring 303. The upper frame push shaft 660 drives the upper frame adjusting block 662 to move towards the upper frame 330, thereby jacking up the corresponding upper frame 330. The different heights of the two upper frame adjusting blocks 662 can drive the upper frame 330 to tilt, so as to simulate the inclined road condition. Before adjustment, the unlocking pull rope 730 needs to be pulled down to loosen the upper frame pressing plate 812 from the upper frame rod 370. After adjustment, the upper frame pressing plate 812 restores the pressing of the upper frame rod 370 to maintain the inclined state of the upper frame 330. Figure 20 Middle and left / right tilting.

[0083] The unlocking pull rope 730 is assembled with one end of the unlocking pull shaft 731 after passing through the middle frame 320. The other end of the unlocking pull shaft 731 is assembled with the unlocking pull ring 7311 after passing through the lower frame 310. The unlocking pull shaft 731 is axially slidably assembled with the lower frame 310.

[0084] Preferably, the two sides of the upper frame 330 are also assembled with one end of different pull springs 710. The other end of the pull spring 710 is assembled with the middle frame 320, and the pull spring 710 applies a repulsive force to the upper frame 330 to pull it towards the middle frame 320, so that the upper frame rod 370 is unlocked, and the upper frame adjusting block 662 is reset. After that, the upper frame 330 will remain horizontal with the middle frame 320, that is, Figure 24 state.

[0085] The bottom ends of the middle shelf 320 are hinged to one end of the corresponding middle shelf rod 360 through different middle shelf rotating shafts 324, the other end of the middle shelf rod 360 passes through the middle shelf rod slot 3121 which is arranged on the middle shelf rod seat 312, the middle shelf rod seat 312 is assembled with the lower shelf pressing plate 751 in a clamping and sliding manner, the lower shelf pressing plate 751 presses the middle shelf rod 360 tightly in the middle shelf rod slot 3121 to fix the middle shelf rod 360, the lower shelf pressing plate 751 is installed on the lower shelf lock seat 750, the lower shelf lock seat 750 is assembled with one end of the lower shelf lock seat rod 602, the other end of the lower shelf lock seat rod 602 passes through the lower shelf shaft plate 315 after being sleeved with the lower shelf spring 305 and is assembled with the lower shelf shaft plate 315 in a sliding manner, the lower shelf shaft plate 315 is installed on the lower shelf 310, and the lower shelf spring 305 applies elastic force to the lower shelf lock seat 750 to push the middle shelf rod 360.

[0086] The lower shelf lock seat 750 is assembled with one end of the second connecting rod 382, the other end of the second connecting rod 382 is hinged to one end of the first connecting rod 381, the other end of the first connecting rod 381 is eccentrically hinged (different shafts) to the lower shelf lock disc 380, the lower shelf lock disc 380 is installed on the lower shelf lock shaft 690, one end of the lower shelf lock shaft 690 passes out of the lower shelf 310 and is assembled with the lower shelf lock shaft ring 691 to be fixed, and the lower shelf lock shaft ring 691 is provided with a shaft ring push block 6911. In use, the lower shelf lock shaft 690 is driven to rotate by pushing the shaft ring push block 6911, so that the lower shelf lock disc 380 is driven to rotate, the lower shelf lock seat 750 is moved to the lower shelf lock shaft 690 by the first connecting rod 381 to overcome the elastic force of the lower shelf spring 305, so that the lower shelf pressing plate 751 is separated from the middle shelf rod 360, at this time, the middle shelf rod 360 can slide in the middle shelf rod slot 3121, then the middle shelf 320 is adjusted, and after adjustment, the shaft ring push block 6911 is loosened, the lower shelf pressing plate 751 is driven to restore the tight pressing with the middle shelf rod 360 by the self-elastic force of the lower shelf spring 305 to fix the middle shelf rod 360, so that the adjustment state of the middle shelf 320 is maintained.

[0087] The bottom surface of the middle frame 320 is also pressed against the middle frame adjusting block 760 of the two middle frame adjusting assemblies, which include the middle frame push shaft 650, the first middle frame light shaft 681, the second middle frame light shaft 682, and the middle frame cable 740. One end of the middle frame push shaft 650 and one end of the second middle frame light shaft 682 are assembled with the middle frame adjusting block 760. The other end of the second middle frame light shaft 682 is assembled into the middle frame shaft tube 670 in an axially slidable manner, and the middle frame shaft tube 670 is installed on the lower frame 310. The middle frame push shaft 650 is assembled with the middle frame cable block 651, which is axially slidably sleeved on the first middle frame light shaft 681. Both ends of the first middle frame light shaft 681 are assembled with the lower shaft frame 314 and the lower frame 310, respectively. The first middle frame light shaft 681 is sleeved with the middle frame spring 304 on the portion between the middle frame cable block 651 and the lower shaft frame 314. The middle frame spring 304 exerts a spring force on the middle frame cable block 651 to resist its movement towards the middle frame 320. The middle frame cable block 651 is assembled with one end of the middle frame cable 740. The middle frame cable 740 is assembled with one end of the middle frame pull shaft 742 after passing around the middle frame guide wheel 741. The other end of the middle frame pull shaft 742 passes through the lower frame 310 and is assembled with the middle frame pull ring 7421. The middle frame pull shaft 742 is axially slidably assembled with the lower frame 310. The middle frame guide wheel 741 is circumferentially rotatably installed on the guide wheel frame 313, which is installed on the lower frame 310. The lower frame 310 is also installed with the roller set 311, which is ring-shaped guide rail device and is assembled in a rolling manner to guide the movement of the lower frame 310 along the guide rail.

[0088] Referring to Figure 29 When adjusting, the lower pressing plate 751 is first separated from the middle frame rod 360, and then the middle frame pull ring 7421 is pulled down to drive the middle frame cable 740 to move downward through the middle frame pull shaft 742, thereby driving the middle frame cable block 651 to move upward. The middle frame cable block 651 drives the middle frame adjusting block 760 to move upward through the middle frame push shaft 650 to lift the corresponding part of the middle frame 320. After the adjustment is completed, the lower pressing plate 751 is restored to press and fix the middle frame rod 360. The slope of the middle frame 320, that is, the slope of the road condition, can be adjusted by the height difference between the two middle frame adjusting blocks 760, and this slope is directly fed back to the upper frame 330.

[0089] Preferably, referring to Figures 24-25The upper shelf 330 is internally provided with a hollow and top-opened upper shelf groove 331, a magnetically conductive shaft 350 is installed inside the upper shelf groove 331, a magnetically conductive sheet is installed on the magnetically conductive shaft 350, the upper shelf groove 331 is filled with magnetorheological fluid, and the top opening of the upper shelf groove 331 is sealed by a sealing film 301, which is installed on the upper shelf 330 and has elasticity. In use, the magnetorheological fluid in the upper shelf groove 331 can be stepped on through the sealing film. The upper shelf 330 at the sealing film 301 is also provided with a cover plate 340, which is used to shield the sealing film 301 so that the cover plate 340 can be directly used to support the stepping when the sealing film 301 is not needed.

[0090] One end of the magnetically conductive shaft 350 penetrates out of the upper shelf groove 331 and is assembled with a magnetically conductive plate 352, which is installed on the upper shelf 330. The road condition module 300 at the position where the patient 01 steps is corresponding to the square electromagnet 230. In use, the magnetic field generated by the square electromagnet 230 can be used to control the viscosity of the magnetorheological fluid, so as to simulate the road surface with different hardness.

[0091] Referring to Figures 31-33 The adjustment module 240 is used to adjust the inclination angle and the spacing of the upper shelf 330 and the middle shelf 320 relative to the ground, and the adjustment module 240 includes a plurality of pull-down assemblies and two side push unlocking assemblies. The pull-down assemblies are one-to-one corresponding to the unlocking pull rings 7311, the two upper shelf pull rings 7221 and the two middle shelf pull rings 7421. The two side push unlocking assemblies are corresponding to the two shaft ring push blocks 6911.

[0092] The down pull assembly comprises a down pull frame 840, a down pull motor 580, a down pull belt 910, and a down pull block 850. The down pull frame 840 is mounted on the adjusting module 240. The down pull belt 910 passes through two belt shafts on the down pull frame 840 and forms a belt transmission mechanism. One of the belt shafts is connected with the output shaft of the down pull motor 580 so that the down pull motor 580 can drive the down pull belt 910 to run. The down pull block 850 is mounted on the down pull belt 910 and is clamped and slidingly assembled with the down pull frame 840. The down pull block 850 is provided with a down pull edge 851 which is located above the corresponding unlocking pull ring 7311, the two upper frame pull rings 7221, and the two middle frame pull rings 7421. This design makes the down pull edge 851 not affect the normal circulation movement of the road condition module, but only needs to be moved downward to press the top surface edge of the corresponding unlocking pull ring 7311, the two upper frame pull rings 7221, and the two middle frame pull rings 7421 to pull the corresponding unlocking pull ring 7311, the two upper frame pull rings 7221, and the two middle frame pull rings 7421 downward, thereby driving the corresponding upper frame pull cable 720, unlocking pull cable 730, and middle frame pull cable 740 to move downward. The down pull motor 580 only needs to drive the down pull belt 910 to run for a certain time according to the control signal to control the downward movement of the down pull block 850, that is, the adjusting amount of the upper frame and the middle frame. The whole process is very fast, convenient and simple.

[0093] Referring to Figures 32-33 The side push unlocking assembly comprises a side push fixed frame 920 and a side push movable frame 930. The side push fixed frame 920 is provided with a side push frame groove 921. The side push movable frame 930 is clamped and slidingly assembled with the side push frame groove 921. One side of the side push movable frame 930 is assembled with the side push cylinder shaft 571 of the side push cylinder 570. The side push cylinder 570 is mounted on the side push fixed frame 920. The side push movable frame 930 is mounted with a lifting cylinder 560. The lifting cylinder shaft 561 of the lifting cylinder 560 is assembled with the side push block 830. The lifting cylinder 560 can drive the side push block 830 to move up and down after being started. The side push cylinder 570 can drive the side push movable frame 930 to move left and right with the side push block 830 after being started. The side push block 830 is provided with a side push part 831. The side push part 831 is pressed with the shaft ring push block 6911 to drive the shaft ring push block 6911 to rotate, thereby driving the lower frame lock shaft 690 to rotate and achieving the separation and unlocking of the lower frame pressing plate 751 and the middle frame rod 360.

[0094] In combination with Figure 31Initially, the side push portion 831 is not higher than the collar push block 6911, allowing the collar push block 6911 to pass over the side push portion 831. When unlocking is required, the lifting cylinder 560 drives the side push block 830 upward, making the top surface of the side push portion 831 higher than the bottom surface of the collar push block 6911. The side push cylinder 570 is then activated, causing the side push portion 831 to move left and right, thereby driving the lower frame lock shaft 690 to rotate and unlock. When relocking is required, the lifting cylinder 560 is activated, causing the side push block 830 to move downward and reset. The lower frame pressure plate 751 and the middle frame rod 360 are then restored to a pressed and fixed state by the lower frame spring 305.

[0095] The adjustment process of the road condition module 300 in this embodiment is roughly as follows:

[0096] 1. The road condition module 300 for road condition adjustment is the road condition module 300 that is not under the patient's feet;

[0097] 2. The road condition module 300 is moved to the position where the adjustment module 240 is installed. The adjustment module 240 then performs the adjustment. Before adjustment, first pull down the unlocking cable 730 to unlock it, rotate the lower frame locking shaft 690 to unlock it, and then pull the corresponding cable to its position. After adjustment, release the unlocking cable 730 and the lower frame locking shaft 690 to allow them to automatically reset and lock. During this process, the unlocking cable 730 and the upper frame cable 720 are flexible, so the adjustment of the middle frame 320 will not interfere with the adjustment of the middle frame 320. The adjustment of the upper frame can be ensured by pulling down the cable.

[0098] 3. The foot-operated road condition module is inserted behind the foot after being stepped on, and this road condition module is unlocked and reset by the corresponding adjustment module 240. That is, this adjustment module 240 is unlocked by pulling down the unlocking cable 730 and rotating the lower frame locking shaft 690, so that the upper frame adjustment module 662 is reset under the action of the upper frame spring 303, and the upper frame is reset relative to the middle frame under the action of the tension spring 710; while the middle frame adjustment block 760 is reset under the action of the middle frame spring 304, and the middle frame 320 is reset or nearly reset relative to the lower frame 310 by its own gravity. After the reset is completed, this road condition module is locked again.

[0099] 4. After resetting, the road condition module enters the next adjustment module 240. This adjustment module 240, based on the road condition data to be simulated, pulls down the unlocking cable, rotates the lower frame locking shaft 690, and then pulls down the upper frame cable and the middle frame cable to adjust the tilt angle and height of the upper and middle frames relative to the ground, thereby simulating a sloping ground and a gradient road condition. There are multiple adjustment modules 240, mainly for quickly adjusting the road condition module.

[0100] 5. When it is necessary to simulate road surfaces with different hardness and viscosity, the cover plate 340 can be opened, and the magnetic field strength output by the square electromagnet 230 can be adjusted as needed. This magnetic field strength is positively correlated with the viscosity of the magnetorheological fluid, so that different road conditions with different hardness and viscosity can be simulated by controlling the viscosity of the magnetorheological fluid.

[0101] 6. A highly elastic mesh can be installed at the foot pedal opening of the road simulator to prevent feet from getting stuck in the gaps, making it safer.

[0102] During use, each joint module 400 detects the rotation angle of its corresponding joint axis 460 via an encoder to determine the exoskeleton's position. Based on this position, it determines whether to input a terrain module to the feet to prevent the module from impacting them. For example, if the encoder detects that the joint axis 460's rotation angle is such that the foot sleeve is completely above the terrain simulator, a terrain module can be input to that foot. The terrain modules for the two feet can be delivered at different speeds and separately, allowing the feet to alternately step on two sets of terrain modules 400 to simulate walking.

Claims

1. An immersive lower limb exercise system based on virtual reality, characterized in that, include: An exoskeleton is worn on the patient's lower limbs to enable movement of the patient's lower limbs or to enable movement of the exoskeleton by the patient's lower limbs. Road condition simulator, used to simulate road conditions; Virtual reality glasses, worn on the patient's head to display images; The exoskeleton is suspended from the frame by ropes, and the road condition simulator is mounted on the frame. The patient wears virtual reality glasses and an exoskeleton. Then, according to the program settings, virtual road conditions are displayed to the patient. The road condition simulator simulates the displayed virtual road conditions and then moves to the patient's feet to simulate the patient walking on the road conditions. The exoskeleton includes a first outer support plate, a second outer support plate, a hip hinge seat, and a crotch portion. The two sides of the crotch portion are respectively hinged to different hip hinge seats. The hip hinge seat is provided with a hip hinge hole. The second outer support plate is provided with a second outer support plate hole at the corresponding position of the hip hinge hole. The hip hinge hole is assembled with the joint axis of the joint module. This joint axis is assembled with the corresponding second outer support plate hole. The joint module corresponding to the hip hinge seat is fixed relative to the hip hinge seat. The joint module includes a joint shell and a joint shaft. The joint shell is fixed relative to the corresponding first outer support plate or hip hinge seat. The joint shaft includes a detection part, a transmission part, and a driven part. The driven part is installed in a damping component and is not circumferentially rotatable relative to the damping component. An inner driven clutch disc is provided on the damping component. The inner driven clutch disc corresponds to the inner active clutch disc, and the inner driven clutch disc can be pressed and driven by the inner active clutch disc. The internal active clutch disc is mounted on one end of the transmission sleeve, which is axially slidable but not relatively circumferentially rotatable on the drive shaft; The drive shaft is connected to the output shaft of the drive motor, and the drive motor is mounted on the first fixed plate of the joint housing. The detection part is equipped with a first joint shaft plate that can rotate circumferentially but cannot move axially. The first joint shaft plate is assembled and fixed with the corresponding first outer support plate or hip hinge seat. The end of the transmission part away from the first joint axle disk is rotatably but not axially movable to the second joint axle disk. The second joint axle disk is fixedly assembled with the corresponding first outer support plate or hip hinge seat. The damping component is provided with a damping groove and a damping ring respectively. A damping block is installed in the damping groove. A damping spring is installed between the damping block and the side wall of the damping groove. The damping spring applies a spring force to the damping block to resist its rotation relative to the damping groove. The damping block is installed on one end of the outer drive sleeve, and an external driven clutch disc is installed on the other end of the outer drive sleeve. The outer drive sleeve is rotatably but not axially movable and is fitted onto the damping component. The outer driven clutch disc corresponds to the outer driving clutch disc, and the outer driven clutch disc can be pressed and driven by the outer driving clutch disc; the outer driving clutch disc is installed on one end face of the clutch seat disc, the clutch seat disc is assembled and fixed to one end of the outer clutch rod, the other end of the outer clutch rod is fitted with a clutch spring and passes through the second clutch collar and is axially slidably assembled with it, the end of the outer clutch rod away from the clutch seat disc is assembled with a nut, the nut cannot pass through the second clutch collar, the second clutch collar is installed on the clutch sleeve, the clutch sleeve is fitted on the transmission sleeve and is assembled and fixed with it, the clutch spring applies a spring force to the clutch seat disc to prevent it from moving towards the second clutch collar; The clutch sleeve is also fitted with a first clutch collar, which is fitted on at least two clutch screws and screwed onto them. The clutch screws are sequentially fitted with a first fixed plate, a second fixed plate, and a third fixed plate, which can rotate circumferentially but cannot move axially. One of the clutch screws is connected to the output shaft of the clutch motor, and the clutch motor is mounted on the first fixed plate. A damping retaining ring is installed on the second joint shaft disc; the outer wall of the damping ring can be pressed against the friction block to apply rotational damping to the damping ring; A friction shaft is installed on the friction block. The friction shaft is inserted into the friction shaft sleeve and can be axially slidably assembled with it. One end of the friction shaft inserted into the friction shaft sleeve cannot protrude from the friction shaft sleeve. The friction shaft sleeve passes through the damping fixing ring and can be axially slidably assembled with it. The end of the friction shaft sleeve away from the friction block is assembled with the pressure block. The end face of the pressure block is pressed against the inner wall of the damping adjustment sleeve. A damping adjustment block is also provided on the inner wall of the damping adjustment sleeve. The damping adjustment block is provided with an adjustment arc surface. The two ends of the adjustment arc surface have different vertical distances from the axis of the damping adjustment sleeve. The damping adjustment sleeve is rotatably and non-axially movable and is fitted onto the outer drive sleeve and damping component. A damping worm gear ring is provided on the outer wall of the damping adjustment sleeve. The teeth of the damping worm gear ring mesh with the damping worm and form a worm gear transmission structure. The damping worm is mounted on the worm shaft. The worm shaft is rotatably and non-axially movable and is mounted on the bearing seat. A driven gear is mounted on the worm shaft. The driven gear meshes with the driving gear for transmission. The driving gear is mounted on the output shaft of the damping motor. The damping motor is mounted on the bearing seat. The bearing seat is mounted on the joint housing. The joint module has the following three working states: Without assistance, the drive motor cannot drive the joint axis to rotate. The patient drives the joint axis to rotate by his own strength and can also start the damping motor to drive the damping adjustment sleeve to rotate, so as to adjust the friction between the friction block and the damping ring as the patient's exercise load. In the semi-assisted state, the clutch motor drives the clutch sleeve to move to the position where the outer active clutch disc and the outer driven clutch disc are pressed together and the inner active clutch disc and the inner driven clutch disc are separated. The patient drives the joint axis to rotate by his own power until the preset angle is reached, and then the drive motor is started to enter the assisted state. With full power assist, the clutch motor drives the clutch sleeve to move until the outer active clutch disc and the outer driven clutch disc are pressed together and the inner active clutch disc and the inner driven clutch disc are pressed together. The power output by the drive motor is transmitted to the damping component through the transmission sleeve and the clutch sleeve to drive the joint shaft to rotate.

2. The immersive lower limb exercise system as described in claim 1, characterized in that, The exoskeleton also includes a foot cover and a suspension part, wherein the suspension part is installed on the crotch part and is fixedly attached to one end of the suspension rope; The second outer support plate is also equipped with straps; the first outer support plate is provided with a first outer support plate hole, and the foot sleeve part is provided with a foot sleeve hole at the corresponding position of the first outer support plate hole. The first outer support plate hole and the foot sleeve hole are both fitted onto the joint shaft of the corresponding joint module, and this joint module is relatively fixed to the first outer support plate, and this joint shaft and the foot sleeve hole cannot be assembled in a relatively circumferential rotation. The joint axis corresponding to the hip hinge hole is close to the connection between the thigh and abdomen, the joint axis corresponding to the first external support plate hole is close to the knee joint, and the foot cover is fitted onto the patient's foot and lower leg.

3. The immersive lower limb exercise system as described in claim 2, characterized in that, The transmission part can be rotatably assembled relative to the corresponding first outer support plate or hip hinge seat, but the transmission part cannot be rotatably assembled relative to the corresponding foot sleeve part or the second outer support plate.

4. The immersive lower limb exercise system as described in claim 1, characterized in that, The first fixed plate, the second fixed plate, and the third fixed plate are all installed inside the joint housing. The second fixed plate and the third fixed plate are located on both sides of the first clutch collar. The clutch belt passes around the portion of each clutch screw located between the first fixed plate and the second fixed plate and forms a belt drive mechanism.

5. The immersive lower limb exercise system as described in claim 1, characterized in that, The first clutch collar is also assembled to one end of the input shaft of the displacement sensor, which is mounted on the first fixed plate; An encoder disk is installed on the detection part, and the edge of the encoder disk is inserted into the encoder. The encoder is installed on the corresponding first joint shaft disk.

6. The immersive lower limb exercise system as described in claim 1, characterized in that, A friction spring is installed between the end of the friction shaft that is inserted into the friction bushing and the pressure block. A spring plate is installed on the part of the friction bushing between the pressure block and the damping fixing ring. The spring plate applies a spring force to the friction bushing to prevent it from moving toward the friction block. The friction spring applies a spring force to the friction shaft to prevent it from moving toward the pressure block.

7. The immersive lower limb exercise system as described in claim 1, characterized in that, The road condition simulator includes a ring guide rail device, a ring drive device, an adjustment module, and road condition modules. Multiple road condition modules are mounted on corresponding ring guide rail devices. The ring drive device is assembled with the corresponding road condition module to drive the road condition modules on the same ring guide rail device to move cyclically to the patient's feet. Multiple adjustment modules correspond one-to-one with different road condition modules on the same ring guide rail device to adjust the corresponding road condition modules to obtain different road conditions. There are two ring guide rail devices, each corresponding to one of the patient's two feet. The road condition modules move cyclically on their respective ring guide rail devices to simulate walking.

8. The immersive lower limb exercise system as described in claim 7, characterized in that, The road condition module includes a lower frame, a middle frame, and an upper frame. The outer walls of the two sides of the upper frame are respectively hinged to one end of different upper frame poles. The other end of the upper frame pole passes through the upper frame pole slot, which is located in the upper frame pole seat. The upper frame pole seat is installed on the middle frame. An upper frame pressure plate is engaged and slidably installed on the upper frame pole seat. The upper frame pressure plate is installed on one end of the upper frame locking plate. The upper frame locking plate is provided with a rack portion, which meshes with the locking plate gear for transmission. The locking plate gear is fitted on the locking plate gear shaft. The locking plate gear shaft and the middle frame are rotatably assembled, and a gear shaft collar is installed on the locking plate gear shaft. The gear shaft collar is assembled and fixed to one end of the unlocking cable. The bottom of the upper frame is also pressed against the upper frame adjusting blocks of two upper frame adjusting components. The upper frame adjusting components include an upper frame cable and an upper frame push shaft. One end of the upper frame push shaft is fixedly assembled with the upper frame adjusting block. The upper frame push shaft is assembled with the upper frame cable block, and the upper frame cable block is assembled with one end of the upper frame cable. The other end of the upper frame cable passes around the upper frame guide wheel, passes through the middle frame, and is assembled with one end of the upper frame pull shaft. The other end of the upper frame pull shaft passes through the lower frame and is assembled with the upper frame pull ring. The upper frame pull shaft and the lower frame are axially slidably assembled. An upper frame spring is fitted on the portion of the upper frame push shaft located between the upper frame cable block and the middle frame. The upper frame spring applies a spring force to the upper frame cable block to resist its movement towards the upper frame adjusting block. The upper frame guide wheel is rotatably mounted on the middle frame. The unlocking cable passes through the middle frame and is assembled with one end of the unlocking pull shaft. The other end of the unlocking pull shaft passes through the lower frame and is assembled with the unlocking pull ring. The unlocking pull shaft and the lower frame can be axially slidably assembled. The bottom two ends of the middle frame are hinged to one end of the corresponding middle frame rod via different middle frame pivots. The other end of the middle frame rod passes through the middle frame rod groove, which is located on the middle frame rod seat. The middle frame rod seat is installed on the lower frame. The middle frame rod seat engages with and slides with the lower frame pressure plate. The lower frame pressure plate presses the middle frame rod tightly into the middle frame rod groove to fix the middle frame rod. The lower frame pressure plate is installed on the lower frame lock seat. The lower frame lock seat is assembled with one end of the lower frame lock seat rod. The other end of the lower frame lock seat rod is fitted with a lower frame spring and passes through the lower frame shaft plate, where it slides with the lower frame shaft plate. The lower frame shaft plate is installed on the lower frame. The lower frame spring applies a spring force to the lower frame lock seat, pushing it toward the middle frame rod. The bottom surface of the central frame is also pressed against the central frame adjusting blocks of the two central frame adjusting assemblies. The central frame adjusting assembly includes a central frame push shaft, a first central frame optical shaft, a second central frame optical shaft, and a central frame cable. One end of the central frame push shaft and one end of the second central frame optical shaft are respectively assembled with the central frame adjusting block. The other end of the second central frame optical shaft is inserted into the central frame shaft tube and is axially slidably assembled with it. The central frame shaft tube is installed on the lower frame. The central frame push shaft is assembled with the central frame cable block. The central frame cable block is axially slidably mounted on the first central frame optical shaft. The two ends of the first central frame optical shaft are respectively assembled with the lower shaft frame and the lower frame. A central frame spring is mounted on the part of the first central frame optical shaft located between the central frame cable block and the lower shaft frame. The central frame spring applies a spring force to the central frame cable block to prevent it from moving towards the central frame. The central support cable block is assembled with one end of the central support cable. The central support cable passes around the central support guide wheel and is assembled with one end of the central support shaft. The other end of the central support shaft passes through the lower frame and is assembled with the central support ring. The central support shaft and the lower frame are axially slidably assembled. The central support guide wheel is rotatably mounted on the guide wheel frame, and the guide wheel frame is mounted on the lower frame.

Images