A road condition simulator and virtual reality-based immersive lower limb exercise system

Abstract

The application discloses a road condition simulation machine and a virtual reality-based immersive lower limb exercise system, and relates to the technical field of medical equipment, in particular to a road condition simulation machine and a virtual reality-based immersive lower limb exercise system. The road condition simulation machine comprises a ring-shaped guide rail device, a ring-shaped driving device, an adjusting module and a road condition module, the road condition module is multiple and is installed on the corresponding ring-shaped guide rail device, the ring-shaped driving device is assembled with the corresponding road condition module so as to drive the road condition modules on the same ring-shaped guide rail device to move one by one and circulate to the feet of a patient, the adjusting module is multiple and one-to-one corresponds to different road condition modules on the same ring-shaped guide rail device to adjust the corresponding road condition module so as to obtain different road conditions, the ring-shaped guide rail device is two and corresponds to the two feet of the patient respectively, and the road condition module circulates on the corresponding ring-shaped guide rail device to simulate a walking state. The road condition simulation machine can relatively truly simulate an inclined road surface, a slope, a step, a road surface with different hardness or viscosity and the like, so that the road surface of the extended reality glasses is more truly simulated.

Description

Technical Field

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

[0002] Extended reality (AR) primarily uses software to combine virtual models with reality, creating a realistic virtual visual experience that gives users a sense of immersion. Currently, AR technology has reached a relatively mature stage of development, with numerous applications. Particularly in medical rehabilitation, many structured AR-based rehabilitation exercise devices have emerged. These devices, combined with virtual technology, immerse patients in virtual visual effects, and then assist them with exercise, resulting in quite satisfactory outcomes.

[0003] However, the applicant's research revealed that most current augmented reality (AR) 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 and reduced motivation. Moreover, the inability to actively exercise on different road conditions significantly diminishes the effectiveness of the exercise.

[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, they can effectively increase patients' immersion and experience, thereby further promoting the application of extended 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 a road condition simulator and an immersive lower limb exercise system based on virtual reality, wherein the road condition simulator can simulate road conditions relatively realistically so that patients can conduct adaptive training according to road conditions and improve immersion.

[0006] To achieve the above objectives, the present invention provides a road condition simulator, comprising a ring-shaped guide rail device, a ring-shaped drive device, an adjustment module, and road condition modules. Multiple road condition modules are mounted on corresponding ring-shaped guide rail devices. The ring-shaped drive device is assembled with a corresponding road condition module to drive the road condition modules on the same ring-shaped guide rail device to move cyclically to the patient's feet. Multiple adjustment modules are provided, each corresponding to a different road condition module on the same ring-shaped guide rail device, to adjust the corresponding road condition module to obtain different road conditions. There are two ring-shaped guide rail devices, each corresponding to one of the patient's two feet. The road condition modules move cyclically on their respective ring-shaped guide rail devices to simulate walking.

[0007] 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.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] As a further improvement of the present invention, a side sliding shaft is installed on the other end of the upper frame locking plate. The side sliding shaft is fitted with a side sliding spring and passes through the side sliding shaft seat and is axially slidably assembled with it. The side sliding shaft seat is installed on the middle frame. The side sliding spring applies a spring force to the upper frame locking plate to push the upper frame pressure plate so that the upper frame pressure plate presses against the upper frame rod to lock the upper frame rod.

[0014] As a further improvement of the present invention, the upper frame adjustment assembly also includes an upper frame optical axis. One end of the upper frame optical axis is assembled and fixed with the upper frame adjustment block, and the other end of the upper frame optical axis is inserted into the upper frame shaft tube and is axially slidably assembled with it. The upper frame shaft tube is installed on the middle frame.

[0015] As a further improvement of the present invention, the two sides of the upper frame are also fitted with one end of different tension springs, the other end of the tension springs are fitted with the middle frame, and the tension springs apply a spring force to the upper frame to pull it toward the middle frame.

[0016] As a further improvement of the present invention, the lower frame lock seat is assembled with one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the first connecting rod, the other end of the first connecting rod is eccentrically hinged to the lower frame lock disc, the lower frame lock disc is installed on the lower frame lock shaft, one end of the lower frame lock shaft passes through the lower frame and is assembled and fixed with the lower frame lock shaft ring, and a shaft ring push block is provided on the lower frame lock shaft ring.

[0017] As a further improvement of the present invention, it also includes a square electromagnet, wherein the upper frame is provided with a hollow upper frame slot with an open top, a magnetic shaft is installed inside the upper frame slot, a magnetic sheet is installed on the magnetic shaft, the upper frame slot is filled with magnetorheological fluid, and the top opening of the upper frame slot is sealed by a sealing film, the sealing film is installed on the upper frame and has elasticity;

[0018] One end of the magnetic shaft passes through the upper frame slot and is assembled with the magnetic plate, which is then installed on the upper frame. The road condition module is located at the position where the patient's foot is placed, corresponding to the square electromagnet. The square electromagnet generates a magnetic field when activated.

[0019] As a further improvement of the present invention, a cover plate is also installed on the upper frame at the sealing film. The cover plate is used to cover the sealing film so that when the sealing film is not needed, the cover plate can be used directly to support the foot.

[0020] As a further improvement of the present invention, the adjustment module is used to adjust the tilt angle and spacing of the upper frame and the middle frame relative to the ground. The adjustment module includes a pull-down component and a side-push unlocking component. There are multiple pull-down components, each corresponding to an unlocking pull ring, two upper frame pull rings, and two middle frame pull rings. There are two side-push unlocking components, each corresponding to a two shaft collar push blocks.

[0021] The pull-down assembly includes a pull-down bracket, a pull-down motor, a pull-down belt, and a pull-down block. The pull-down bracket is mounted on the adjustment module. The pull-down belt passes over two belt shafts on the pull-down bracket and forms a belt drive mechanism, with one belt shaft connected to the output shaft of the pull-down motor. The pull-down block is mounted on the pull-down belt and engages with and slides with the pull-down bracket. The pull-down block has a pull-down edge located above one side of its corresponding unlocking pull ring, two upper frame pull rings, and two middle frame pull rings.

[0022] The side-push unlocking assembly includes a side-push fixed frame and a side-push movable frame. The side-push fixed frame is provided with a side-push frame slot, and the side-push movable frame engages with and slides with the side-push frame slot. One side of the side-push movable frame is assembled with the side-push electric cylinder shaft of the side-push electric cylinder. The side-push electric cylinder is mounted on the side-push fixed frame, and a lifting electric cylinder is installed on the side-push movable frame. The lifting electric cylinder shaft of the lifting electric cylinder is assembled with the side-push block. The side-push block is provided with a side-push part. In the initial state, the side-push part is located below the shaft ring push block. In use, the side-push part moves upward and presses against the shaft ring push block to drive the shaft ring push block to rotate, thereby driving the lower frame lock shaft to rotate and achieve the separation and unlocking of the lower frame pressure plate and the middle frame rod.

[0023] The present invention also discloses an immersive lower limb exercise system based on virtual reality, which includes the aforementioned road condition simulator.

[0024] The beneficial effects of this invention are:

[0025] This invention integrates extended reality technology with exercise equipment. Extended 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 patients to realistically step on different road modules for authentic feedback, significantly enhancing immersion and making them feel as if they are walking on a real road surface. This stimulates corresponding walking movements and accelerates the patient's recovery.

[0026] This invention uses a road condition simulator to realistically simulate inclined roads, slopes, steps, and roads with different hardness or viscosity, thereby more realistically simulating the road surface seen in extended 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

[0027] Figures 1-3 This is a schematic diagram of the structure of the present invention;

[0028] Figures 4-5 This is a structural diagram of exoskeleton 100;

[0029] Figures 6-7 This is an exploded view of part of the structure of the exoskeleton 100;

[0030] Figure 8 This is a cross-sectional view of the joint module 400 located at the center plane of the drive shaft 521 axis;

[0031] Figure 9 yes Figure 8 Enlarged view of point A in the middle;

[0032] 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.

[0033] 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.

[0034] Figure 14 This is a cross-sectional view of the joint module 400 located at the center plane of the friction shaft 611 axis;

[0035] Figures 15-17 This is a partial structural diagram of joint module 400;

[0036] Figures 18-19 This is an exploded view of part of the structure of joint module 400;

[0037] Figures 20-21 This is a structural diagram of the Road Condition Simulator 200;

[0038] Figures 22-23 This is a structural diagram of the Road Condition Module 300;

[0039] 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;

[0040] 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;

[0041] Figures 26-30 This is a partial structural diagram of the Road Condition Module 300;

[0042] Figure 31 This is a structural diagram of the road condition module 300 and the adjustment module 240;

[0043] Figures 32-33 This is a structural schematic diagram of the adjustment module 240. Detailed Implementation

[0044] 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.

[0045] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] See Figures 1-5 The immersive lower limb exercise system of this embodiment includes:

[0047] 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.

[0048] The Road Simulator 200 is used to simulate road conditions such as uphill, downhill, left and right inclines, and high and low steps.

[0049] Augmented 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 augmented reality glasses can be VR glasses, MR glasses, etc.

[0050] 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.

[0051] When in use, the patient wears augmented reality glasses and an exoskeleton 100. Then, according to the program settings, a virtual road condition is displayed to the patient. The road condition simulator 200 simulates the displayed virtual road condition and then moves to the patient's feet to simulate the patient walking on that road condition.

[0052] See Figures 1-11The 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.

[0053] 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.

[0054] 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.

[0055] See Figures 1-18The 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.

[0056] 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.

[0057] 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.

[0058] The clutch sleeve 480 is further fitted with a first clutch collar 481, which is fitted onto at least two clutch screws 451 and screwed onto them. The clutch screws 451 are sequentially fitted with a first fixed plate 412, a second fixed plate 413, and a third fixed plate 414, which can rotate circumferentially but cannot move axially. The first fixed plate 412, the second fixed plate 413, and the third fixed plate 414 are all installed inside the joint housing 410. The second fixed plate 413 and the third fixed plate 414 are located on both sides of the first clutch collar 481. The clutch belt 450 passes around the portion of each clutch screw 451 located between the first fixed plate 412 and the second fixed plate 413 and forms a belt drive mechanism. One of the clutch screws 451 is connected to the output shaft of the clutch motor 530, which is mounted on the first fixed plate 412. After the clutch motor 530 is started, it can drive each clutch screw 451 to rotate, thereby driving the clutch sleeve 480 to move along its axial direction, so as to control the engagement and disengagement state of the inner driven clutch disc 424 and the inner driving clutch disc 471, and the engagement and disengagement state of the outer driven clutch disc 492 and the outer driving clutch disc 484.

[0059] The first clutch sleeve 481 is also assembled to one end of the input shaft 511 of the displacement sensor 510, which is mounted on the first fixed plate 412. When the clutch sleeve 480 moves, it will drive the input shaft 511 to move axially, thereby using the displacement sensor 510 to detect the displacement of the clutch sleeve 480 to determine the current engagement / disengagement status of the inner driven clutch plate 424 and the inner driving clutch plate 471, and the engagement / disengagement status of the outer driven clutch plate 492 and the outer driving clutch plate 484.

[0060] The drive shaft 521 is connected to the output shaft of the drive motor 520. The drive motor 520 is mounted on the first fixed plate 412. After the drive motor 520 is started, it can drive the drive shaft 521 to rotate, thereby driving the transmission sleeve 470 and the clutch sleeve 480 to rotate synchronously. The transmission sleeve 470 and the clutch sleeve 480 can drive the inner active clutch plate 471 and the outer driven clutch plate 492 to rotate through the corresponding inner active clutch plate 471 and outer active clutch plate 484, respectively, so as to drive the joint shaft 460 to rotate to provide assistance at the joint.

[0061] See Figures 7-15 Preferably, the outer wall of the damping ring 422 can be pressed against the friction block 610 to apply rotational damping to the damping ring 422, that is, to apply damping to the rotation of the joint axis 460. A friction shaft 611 is mounted on the friction block 610. The friction shaft 611 is inserted into the friction bushing 620 and is axially slidably assembled with it. One end of the friction shaft 611 inserted into the friction bushing 620 cannot protrude from the friction bushing 620. The friction bushing 620 passes through the damping retaining ring 466 and is axially slidably assembled with it. The end of the friction bushing 620 away from the friction block 610 is assembled with the pressure block 630. A friction spring 642 is installed between the end of the friction bushing 620 where the friction shaft 611 is inserted into the friction bushing 620 and the pressure block 630. A spring plate 641 is installed on the part of the friction bushing 620 between the pressure block 630 and the damping retaining ring 466. The spring plate 641 applies a spring force to the friction bushing 620 to prevent it from moving toward the friction block 610. The friction spring 642 applies a spring force to the friction shaft 611 to prevent it from moving toward the pressure block 630.

[0062] The end face of the pressure block 630 is pressed against the inner wall of the damping adjustment sleeve 440. A damping adjustment block 441 is also provided on the inner wall of the damping adjustment sleeve 440. An adjustment arc surface is provided on the damping adjustment block 441. The vertical distance between the two ends of the adjustment arc surface and the axis of the damping adjustment sleeve 440 is different, so that the pressure between the friction block 610 and the damping ring 422 is different when the adjustment arc surface contacts the pressure block 630 at different positions. This adjusts the rotational damping of the damping ring 422 (joint shaft 460).

[0063] The damping adjustment sleeve 440 is rotatably but non-axially movable and is fitted around the outer drive sleeve 490 and the damping component 420. A damping worm gear ring 431 is provided on the outer wall of the damping adjustment sleeve 440. The teeth of the damping worm gear ring 431 mesh with the damping worm part 432 to form a worm gear transmission structure. The damping worm part 432 is mounted on the worm shaft 601. The worm shaft 601 is rotatably but non-axially movable and is mounted on the bearing seat 411. A driven gear 433 is mounted on the worm shaft 601. The driven gear 433 meshes with the driving gear 434 for transmission. The driving gear 434 is mounted on the output shaft of the damping motor 550. The damping motor 550 is mounted on the bearing seat 411. The bearing seat 411 is mounted on the joint housing 410. After the damping motor 550 is started, it can drive the worm shaft 601 to rotate. The worm shaft 601 drives the damping adjustment sleeve 440 to rotate to adjust the different positions of the adjustment arc surface and press it against the pressure block 630, thereby adjusting the pressure between the friction block 610 and the damping ring 422. This pressure affects the friction 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.

[0064] Preferably, a cover 415 is installed on the joint housing 410, and after the cover 415 is assembled with the joint housing 410, it encloses the structure inside the joint module 400.

[0065] Figure 9 In the unassisted state, the drive motor 520 cannot drive the joint shaft 460 to rotate. This embodiment has one usage state:

[0066] 1. Full support, with Figure 9 As the reference clutch sleeve 480 moves towards the damping element 420 to its maximum displacement, the outer active clutch disc 484 first presses against the outer driven clutch disc 492 during this process. Then, as the clutch sleeve 480 continues to move, the outer active clutch disc 484, due to the obstruction of the outer driven clutch disc 492, squeezes the clutch spring 485, and the inner active clutch disc 471 moves towards the inner driven clutch disc 424 until the inner active clutch disc 471 presses against the inner driven clutch disc 424. At this time, the power output by the drive motor 520 is synchronously transmitted to the damping element 420 and the outer drive sleeve 490 through the transmission sleeve 470 and the clutch sleeve 480, so that the joint shaft 460 obtains all the driving force. At this time, the friction block 610 separates from the damping ring 422 to avoid affecting the rotation of the joint shaft 460.

[0067] 2. Semi-assisted, with Figure 9Based on this, the clutch sleeve 480 moves towards the damping element 420 until the outer active clutch disc 484 and the outer driven clutch disc 492 are pressed together and the inner active clutch disc 471 is not in contact with the inner driven clutch disc 424. At this time, the driving force of the drive motor 520 is first transmitted to the outer drive sleeve 490, which then rotates to drive the damping element 420 (joint axis 460) to rotate. At this time, the friction block 610 separates from the damping ring 422 to avoid affecting the rotation of the joint axis 460. This state is to delay providing assistance to the patient. At this time, the damping element 420 and the outer drive sleeve 490 can compress the damping spring 423 to obtain a certain angle of relative rotation (the drive motor 520 is a servo motor, and when the damping element 420 rotates, the clutch sleeve 480 cannot rotate due to the constraint of the drive shaft 521, that is, the outer drive sleeve 490 cannot rotate). At this time, the patient drives the joint axis 460 to rotate using their own power (the foot sleeve 110 rotates relative to the first outer support plate 120, and the second outer support plate 130 rotates relative to the hip hinge seat 140). The encoder 540 detects the rotation angle. Once the preset angle is reached, the drive motor 520 starts, driving the drive shaft 521 to rotate. The drive shaft 521 drives the damping element 420 to rotate through the outer drive sleeve 490, thereby driving the joint axis 460 to rotate and enter the assisted state. This delayed start of assisted movement is more suitable for the patient's rehabilitation training because the drive motor 520 does not provide assistance at all times. The patient must drive the joint axis 460 to a certain angle by themselves, thereby training the patient's lower limb strength without increasing the load too much and affecting the training.

[0068] 3. No assistance, that is Figure 9 In this state, the drive motor cannot drive the joint axis 460 to rotate, but the patient can drive the joint axis 460 to rotate using their own strength. Then, the damping motor 550 can be activated, which drives the damping adjustment sleeve 440 to rotate to adjust the pressure (friction) between the friction block 610 and the damping ring 422. This friction is the load during the patient's exercise, which can gradually strengthen the patient's leg strength and prepare for subsequent walking. Of course, when used in conjunction with the road condition simulator 200, the feeling of walking on muddy roads, deserts, etc., can be simulated by increasing the damping, because the walking resistance is significantly greater in these conditions. Thus, the combination of extended reality glasses and the road condition simulator 200 can increase the patient's immersion.

[0069] See Figures 1-2 , Figures 19-32The road condition simulator 200 includes a ring-shaped guide rail device 210, a ring-shaped drive device 220, a square electromagnet 230, an adjustment module 240, and road condition modules 300. Multiple road condition modules 300 are mounted on corresponding ring-shaped guide rail devices 210. The ring-shaped drive device 220 is assembled with a corresponding road condition module 300 to drive the road condition modules 300 on the same ring-shaped guide rail device 210 to move sequentially to the feet of patient 01. Multiple adjustment modules 240 correspond one-to-one with 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. There are two ring-shaped guide rail devices 210, each corresponding to one of the patient's two feet. The road condition modules 300 move cyclically on their respective ring-shaped guide rail devices 210 to simulate walking, similar to a treadmill. The road condition module 300, which simulates different road conditions, is placed under the patient's feet, allowing the patient to directly perceive different road conditions. Combined with the directional images provided by the augmented reality glasses, the patient can perceive the road conditions relatively realistically, thereby improving immersion, increasing the fun of training, and enhancing the patient's training enthusiasm. The ring guide rail device 210 and the ring drive device 220 in this embodiment can directly use existing ring guide rail loops.

[0070] See Figures 19-29 The road condition module 300 includes a lower frame 310, a middle frame 320, and an upper frame 330. The outer walls of the upper frame 330 are hinged to one end of different upper frame rods 370. The other end of each upper frame rod 370 passes through an upper frame rod groove 3211, which is located within an upper frame rod seat 321. The upper frame rod seat 321 is mounted on the middle frame 320. An upper frame pressure plate 812 is engaged and slidably mounted on the upper frame rod seat 321. The upper frame pressure plate 812 is mounted on one end of an upper frame locking plate 810, and a side sliding shaft is mounted on the other end of the upper frame locking plate 810. 813, The upper locking plate 810 is provided with a rack portion 811, the rack portion 811 meshes with the locking plate gear 820 for transmission, the locking plate gear 820 is mounted on the locking plate gear shaft 821, the locking plate gear shaft 821 is rotatably assembled with the middle frame 320 and a gear shaft ring 8211 is installed on the locking plate gear shaft 821, the gear shaft ring 8211 is assembled and fixed to one end of the 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, thereby driving the upper locking plate 810 to move.

[0071] The side sliding shaft 813, after being fitted with a side sliding spring 302, passes through the side sliding shaft seat 322 and is axially slidably assembled with it. The side sliding shaft seat 322 is mounted on the middle frame 320. The side sliding spring 302 applies a spring force to the upper frame locking plate 810, pushing the upper frame pressure plate 812 so that the upper frame pressure plate 812 presses against the upper frame rod 370, thereby locking the upper frame rod 370. When the unlocking cable 730 drives the locking plate gear shaft 821 to rotate, it can drive the upper frame locking plate 810 to squeeze the side sliding spring 302, thereby separating the upper frame pressure plate 812 from the upper frame rod 370 and unlocking it. At this time, the upper frame rod 370 can slide relative to the upper frame rod groove 3211.

[0072] The bottom of the upper frame 330 is also pressed against the upper frame adjusting blocks 662 of the two upper frame adjusting components. The upper frame adjusting components include an upper frame cable 720, an upper frame push shaft 660, and an upper frame optical shaft 663. One end of the upper frame push shaft 660 and one end of the upper frame optical shaft 663 are respectively assembled and fixed to the upper frame adjusting block 662. The other end of the upper frame optical shaft 663 is inserted into the upper frame shaft tube 323 and is axially slidably assembled therewith. 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 cable block 661. One end of the upper frame cable 720 is assembled with the upper frame guide wheel 721, the other end of the upper frame cable 720 passes through the middle frame 320 and is assembled with one end of the upper frame pull shaft 722. The other end of the upper frame pull shaft 722 passes through the lower frame 310 and is assembled with the upper frame pull ring 7221. The upper frame pull shaft 722 and the lower frame 310 are axially slidably assembled. An upper frame spring 303 is fitted on the portion of the upper frame push shaft 660 located between the upper frame cable block 661 and the middle frame 320. The upper frame spring 303 applies a spring force to the upper frame cable block 661 to resist its movement towards the upper frame adjusting block 662. The upper frame guide wheel 721 is rotatably mounted on the middle frame 320.

[0073] See Figure 23 In use, pulling down the upper frame pull ring 7221 can pull down the upper frame cable 720 via the upper frame pull shaft 722. The upper frame cable 720 drives the upper frame push shaft 660 to move upwards towards the upper frame 330, overcoming the elastic force of the upper frame spring 303, through the upper frame cable block 661. The upper frame push shaft 660 drives the upper frame adjusting block 662 to move upwards towards the upper frame 330, thereby lifting the corresponding upper frame 330. The different height difference between the two upper frame adjusting blocks 662 can cause the upper frame 330 to tilt, simulating a tilted road condition. Of course, before adjustment, the unlock cable 730 needs to be pulled down to loosen the pressure of the upper frame pressure plate 812 on the upper frame rod 370. After adjustment, the upper frame pressure plate 812 returns to its original position, maintaining the tilted state of the upper frame 330. Figure 19 (The center is tilted to the left or right).

[0074] The unlocking cable 730 passes through the middle frame 320 and is assembled with one end of the unlocking pull shaft 731. The other end of the unlocking pull shaft 731 passes through the lower frame 310 and is assembled with the unlocking pull ring 7311. The unlocking pull shaft 731 and the lower frame 310 can be axially slidably assembled.

[0075] Preferably, the upper frame 330 is also fitted with one end of a tension spring 710 on both sides, and the other end of the tension spring 710 is fitted with the middle frame 320. The tension spring 710 applies a pulling force to the upper frame 330 towards the middle frame 320, so that after the upper frame rod 370 is unlocked and the upper frame adjusting block 662 is reset, the upper frame 330 will remain horizontal with the middle frame 320. Figure 23 state.

[0076] The bottom ends of the middle frame 320 are hinged to one end of the corresponding middle frame rod 360 via different middle frame pivots 324. The other end of the middle frame rod 360 passes through the middle frame rod groove 3121, which is located on the middle frame rod seat 312. The middle frame rod seat 312 is mounted on the lower frame 310. The middle frame rod seat 312 engages with and slides with the lower frame pressure plate 751, which presses the middle frame rod 360 tightly into the middle frame rod groove 312. 1. The middle frame rod 360 is fixed inside; the lower frame pressure plate 751 is installed on the lower frame lock seat 750, the lower frame lock seat 750 is assembled with one end of the lower frame lock seat rod 602, the other end of the lower frame lock seat rod 602 is fitted with a lower frame spring 305 and passes through the lower frame shaft plate 315 and is slidably assembled with the lower frame shaft plate 315, the lower frame shaft plate 315 is installed on the lower frame 310, and the lower frame spring 305 applies a spring force to the lower frame lock seat 750 to push the middle frame rod 360.

[0077] The lower frame 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 to the lower frame lock disc 380 (not on the same axis). The lower frame lock disc 380 is mounted on the lower frame lock shaft 690. One end of the lower frame lock shaft 690 passes through the lower frame 310 and is assembled and fixed with the lower frame lock shaft ring 691. The lower frame lock shaft ring 691 is provided with a shaft ring push block 6911. In use, pushing the collar pusher 6911 drives the lower frame lock shaft 690 to rotate, thereby driving the lower frame lock disc 380 to rotate. The lower frame lock disc 380 drives the lower frame lock seat 750 to move towards the lower frame lock shaft 690 through the first connecting rod 381, overcoming the elastic force of the lower frame spring 305. This causes the lower frame pressure plate 751 to separate from the middle frame rod 360. At this time, the middle frame rod 360 can slide in the middle frame rod groove 3121. Then, the middle frame 320 is adjusted. After the adjustment is in place, the collar pusher 6911 is released. The lower frame spring 305 drives the lower frame pressure plate 751 to return to pressing against the middle frame rod 360 through its own elastic force, thereby fixing the middle frame rod 360 and maintaining the adjusted state of the middle frame 320.

[0078] The bottom surface of the middle frame 320 is also pressed against the middle frame adjusting blocks 760 of the two middle frame adjusting assemblies. The middle frame adjusting assembly includes a middle frame push shaft 650, a first middle frame optical shaft 681, a second middle frame optical shaft 682, and a middle frame cable 740. One end of the middle frame push shaft 650 and one end of the second middle frame optical shaft 682 are respectively assembled with the middle frame adjusting block 760. The other end of the second middle frame optical shaft 682 is inserted into the middle frame shaft tube 670 and is axially slidably assembled therewith. 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. The middle frame cable block 651 is axially slidably fitted onto the first middle frame optical shaft 681. The two ends of the first middle frame optical shaft 681 are respectively connected to the lower shaft frame 310. 14. The lower frame 310 is assembled, and a middle frame spring 304 is fitted on the portion of the first middle frame optical shaft 681 located between the middle frame cable block 651 and the lower frame 314. The middle frame spring 304 applies a spring force to the middle frame cable block 651 to prevent it from moving toward 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 passes around the middle frame guide wheel 741 and is assembled with one end of the middle frame pull shaft 742. 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 and the lower frame 310 are axially slidably assembled. The middle frame guide wheel 741 is rotatably mounted on the guide wheel frame 313, and the guide wheel frame 313 is mounted on the lower frame 310. The lower frame 310 is also equipped with a roller assembly 311, which is engaged with the guide rail of the annular guide rail device and rolled to guide the lower frame 310 to move along the guide rail.

[0079] See Figure 28 During adjustment, first separate the lower pressure plate 751 from the central frame rod 360. Then, pull down the central frame pull ring 7421, which can drive the central frame cable 740 downward through the central frame pull shaft 742, thereby driving the central frame cable block 651 upward. The central frame cable block 651, through the central frame push shaft 650, drives the central frame adjusting block 760 upward, lifting the corresponding position of the central frame 320. After adjustment, the lower pressure plate 751 and the central frame rod 360 are restored to tight fixation. The slope of the central frame 320, that is, the slope of the road condition, can be adjusted by the height difference between the two central frame adjusting blocks 760. This slope is directly fed back to the upper frame 330.

[0080] Preferably, see Figures 23-24The upper frame 330 has a hollow, top-opening upper frame groove 331 inside. A magnetic shaft 350 is installed inside the upper frame groove 331, and a magnetic sheet is installed on the magnetic shaft 350. The upper frame groove 331 is filled with magnetorheological fluid, and the top opening of the upper frame groove 331 is sealed by a sealing membrane 301. The sealing membrane 301 is installed on the upper frame 330 and is elastic. In use, the magnetorheological fluid in the upper frame groove 331 can be stepped on through the sealing membrane. A cover plate 340 is also installed on the upper frame 330 at the sealing membrane 301. The cover plate 340 is used to cover the sealing membrane 301 so that when the sealing membrane 301 is not needed, the cover plate 340 can be used directly to support the foot.

[0081] One end of the magnetic guide shaft 350 passes through the upper frame slot 331 and is assembled with the magnetic guide plate 352, which is mounted on the upper frame 330. The road condition module 300 is located at the patient's foot position, 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, thereby simulating road surfaces of different hardness.

[0082] See Figures 30-32 The adjustment module 240 is used to adjust the tilt angle and spacing of the upper frame 330 and the middle frame 320 relative to the ground. The adjustment module 240 includes a pull-down component and a side-push unlocking component. There are multiple pull-down components, each corresponding to an unlocking pull ring 7311, two upper frame pull rings 7221, and two middle frame pull rings 7421. There are two side-push unlocking components, each corresponding to a shaft ring push block 6911.

[0083] The pull-down assembly includes a pull-down bracket 840, a pull-down motor 580, a pull-down belt 910, and a pull-down block 850. The pull-down bracket 840 is mounted on the adjustment module 240. The pull-down belt 910 passes around two belt shafts on the pull-down bracket 840 and forms a belt drive mechanism. One of the belt shafts is connected to the output shaft of the pull-down motor 580 so that the pull-down motor 580 can drive the pull-down belt 910 to run. The pull-down block 850 is mounted on the pull-down belt 910. The pull-down block 850 engages with and slides with the pull-down bracket 840. The pull-down block 850 is provided with a pull-down edge 851, which is located above one side of its corresponding unlocking pull ring 7311, two upper frame pull rings 7221, and two middle frame pull rings 7421. This design ensures that the pull-down edge 851 does not affect the normal cyclic movement of the road condition module. When adjustment is needed, simply moving the pull-down edge 851 downwards allows it to press against the top edges of the corresponding unlocking ring 7311, the two upper frame rings 7221, and the two middle frame rings 742, pulling them downwards. This, in turn, drives the corresponding upper frame cable 720, unlocking cable 730, and middle frame cable 742 downwards. The pull-down motor 580 only needs to drive the pull-down belt 910 for a certain period based on the control signal to control the downward movement of the pull-down block 850, which corresponds to the adjustment of the upper and middle frames. The entire process is very fast, convenient, and simple.

[0084] See Figures 31-32 The side-push unlocking assembly includes 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 engaged with and slidably assembled with the side-push frame groove 921. One side of the side-push movable frame 930 is assembled with the side-push electric cylinder shaft 571 of the side-push electric cylinder 570. The side-push electric cylinder 570 is mounted on the side-push fixed frame 920. A lifting electric cylinder 560 is installed on the side-push movable frame 930. The lifting electric cylinder shaft 561 of the lifting electric cylinder 560 is assembled with the side-push block 830. After the lifting electric cylinder 560 is activated, it can drive the side-push block 830 to move up and down. After the side-push electric cylinder 570 is activated, it can drive the side-push movable frame 930 to move left and right with the side-push block 830. The side push block 830 is provided with a side push part 831. When in use, the side push part 831 is pressed against the collar push block 6911 to drive the collar push block 6911 to rotate, thereby driving the lower frame lock shaft 690 to rotate and realize the separation and unlocking of the lower frame pressure plate 751 and the middle frame rod 360.

[0085] Combination Figure 30Initially, 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.

[0086] The adjustment process of the road condition module 300 in this embodiment is roughly as follows:

[0087] 1. The road condition module 300 for road condition adjustment is the road condition module 300 that is not under the patient's feet;

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] Any aspects of this invention not described in detail are well-known to those skilled in the art.

[0095] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A road condition simulator, characterized in that, The device includes a ring-shaped guide rail, a ring-shaped drive unit, an adjustment module, and a path condition module. Multiple path condition modules are mounted on corresponding ring-shaped guide rails. The ring-shaped drive unit is assembled with a corresponding path condition module to drive the path condition modules on the same ring-shaped guide rail to move cyclically to the patient's feet. Multiple adjustment modules correspond one-to-one with different path condition modules on the same ring-shaped guide rail to adjust the corresponding path condition modules to obtain different path conditions. There are two ring-shaped guide rails, each corresponding to one of the patient's two feet. The path condition modules move cyclically on their respective ring-shaped guide rails to simulate walking. The road condition adjustment module is the road condition module that is not under the patient's feet; the road condition module moves to the position where the adjustment module is installed, and then the adjustment module adjusts it; the foot-operated road condition module enters behind the foot after being stepped on, and this road condition module is unlocked and reset through the corresponding adjustment module. After the reset is completed, this road condition module is locked again and continues to move in a loop under the drive of the ring drive device. 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.

2. The road condition simulator as described in claim 1, characterized in that, A side sliding shaft is installed on the other end of the upper frame locking plate. The side sliding shaft is fitted with a side sliding spring and passes through the side sliding shaft seat and is axially slidably assembled with it. The side sliding shaft seat is installed on the middle frame. The side sliding spring applies a spring force to the upper frame locking plate to push the upper frame pressure plate so that the upper frame pressure plate presses against the upper frame rod to lock the upper frame rod.

3. The road condition simulator as described in claim 1, characterized in that, The upper frame adjustment assembly also includes an upper frame optical shaft. One end of the upper frame optical shaft is assembled and fixed with the upper frame adjustment block, and the other end of the upper frame optical shaft is inserted into the upper frame shaft tube and is axially slidably assembled with it. The upper frame shaft tube is installed on the middle frame.

4. The road condition simulator as described in claim 1, characterized in that, The upper frame is also fitted with one end of different tension springs on both sides, and the other end of the tension springs is fitted with the middle frame, and the tension springs apply a spring force to the upper frame to pull it toward the middle frame.

5. The road condition simulator as described in claim 1, characterized in that, The lower frame lock seat is assembled with one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the first connecting rod, the other end of the first connecting rod is eccentrically hinged to the lower frame lock disc, the lower frame lock disc is installed on the lower frame lock shaft, one end of the lower frame lock shaft passes through the lower frame and is assembled and fixed with the lower frame lock shaft ring, and the lower frame lock shaft ring is provided with a shaft ring push block.

6. The road condition simulator as described in any one of claims 1-5, characterized in that, It also includes a square electromagnet, the upper frame has a hollow upper frame slot with an open top, a magnetic shaft is installed inside the upper frame slot, a magnetic sheet is installed on the magnetic shaft, the upper frame slot is filled with magnetorheological fluid, and the top opening of the upper frame slot is sealed by a sealing film, the sealing film is installed on the upper frame and has elasticity; One end of the magnetic shaft passes through the upper frame slot and is assembled with the magnetic plate, which is then installed on the upper frame. The road condition module is located at the position where the patient's foot is placed, corresponding to the square electromagnet. The square electromagnet generates a magnetic field when activated.

7. The road condition simulator as described in claim 6, characterized in that, The upper frame is also equipped with a cover plate at the sealing film. The cover plate is used to cover the sealing film so that when the sealing film is not needed, the cover plate can be used directly to support the feet.

8. The road condition simulator as described in claim 6, characterized in that, The adjustment module is used to adjust the tilt angle and spacing of the upper and middle frames relative to the ground. The adjustment module includes a pull-down component and a side-push unlocking component. There are multiple pull-down components, each corresponding to an unlocking pull ring, two upper frame pull rings, and two middle frame pull rings. There are two side-push unlocking components, each corresponding to a two-shaft push block. The pull-down assembly includes a pull-down bracket, a pull-down motor, a pull-down belt, and a pull-down block. The pull-down bracket is mounted on the adjustment module. The pull-down belt passes over two belt shafts on the pull-down bracket and forms a belt drive mechanism, with one belt shaft connected to the output shaft of the pull-down motor. The pull-down block is mounted on the pull-down belt and engages with and slides with the pull-down bracket. The pull-down block has a pull-down edge located above one side of its corresponding unlocking pull ring, two upper frame pull rings, and two middle frame pull rings. The side-push unlocking assembly includes a side-push fixed frame and a side-push movable frame. The side-push fixed frame is provided with a side-push frame slot, and the side-push movable frame engages with and slides with the side-push frame slot. One side of the side-push movable frame is assembled with the side-push electric cylinder shaft of the side-push electric cylinder. The side-push electric cylinder is mounted on the side-push fixed frame, and a lifting electric cylinder is installed on the side-push movable frame. The lifting electric cylinder shaft of the lifting electric cylinder is assembled with the side-push block. The side-push block is provided with a side-push part. In the initial state, the side-push part is located below the shaft ring push block. In use, the side-push part moves upward and presses against the shaft ring push block to drive the shaft ring push block to rotate, thereby driving the lower frame lock shaft to rotate and achieve the separation and unlocking of the lower frame pressure plate and the middle frame rod.

9. An immersive lower limb exercise system based on virtual reality, characterized in that, The application has the road condition simulator as described in any one of claims 1-8.

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