Balance disorder rehabilitation robot based on virtual and real scene fusion
A balance disorder rehabilitation robot based on virtual and real scene fusion has a follow-up supporting device, a weight loss protection device and a virtual projection device. The follow-up supporting device is arranged in the center position of a bottom surface of the weight loss protection device and is used to follow the balance training gait of a patient in real time. The weight loss protection device is used to follow the position of center of gravity of the patient in a process of balance rehabilitation training in real time. The virtual projection device is arranged in front of the follow-up supporting device to present a virtual scene. The postures and the positions of the follow-up platforms are controlled to realize the physical sense reproduction of multiple motion scenes. The physical scene is organically combined with the virtual scene to ensure a diverse balance rehabilitation training environment.
1 . A balance disorder rehabilitation robot for training a patient in need thereof, comprising:
a follow-up supporting device ( 1 ) configured to follow gaits of the patient in real time;
a weight loss protection device ( 2 ) disposed above the follow-up device ( 1 ); and
a virtual projection device ( 3 ) disposed in front of the follow-up device ( 1 ),
wherein the follow-up supporting device ( 1 ) comprises a follow-up platform I ( 11 ) and a follow-up platform II ( 12 ) installed on a supporting base ( 13 ), orientations of front, rear, left, right, above, and below are relative to a frontal axis of the patient in an upright position, having the left leg placed on the follow-up platform II ( 12 ) and the right leg placed on the follow-up platform II ( 12 ),
wherein each of the follow-up platform I ( 11 ) and the follow-up platform II ( 12 ) comprises a position adjustment platform ( 112 ) and a posture adjustment platform ( 111 ) arranged on the position adjustment platform ( 112 ),
wherein the posture adjustment platform ( 111 ) comprises a pedal ( 1111 ), a bottom plate ( 1114 ) and a plurality of retractable branch chains; the pedal ( 1111 ) is disposed above the bottom plate ( 1114 ) and is connected with the bottom plate ( 1114 ) through the plurality of retractable branch chains; and the bottom plate ( 1114 ) is connected with the position adjustment platform ( 112 ), and
wherein each retractable branch chain comprises an upper connecting rod ( 1112 ) connected to the pedal ( 1111 ) and a lower connecting rod ( 1113 ) connected to the bottom plate ( 1114 ), a lower end of the upper connecting rod ( 1112 ) is inserted into and retractable from an upper end of the lower connecting rod ( 1113 ), whereby a relative position between the upper connecting rod ( 1112 ) and the lower connecting rod ( 1113 ) in each retractable branch chain is adjustable to realize angular changes of the pedal ( 1111 ) relative to the bottom plate ( 1114 ) in all directions so as to adjust a posture of the pedal ( 1111 ).
2 . The balance disorder rehabilitation robot according to claim 1 , wherein one training protection railing ( 14 ) is arranged on each of the left side and the right side of the supporting base ( 13 ), respectively; a slope plate ( 15 ) is installed on one end of the supporting base ( 13 ) away from the virtual projection device ( 3 ); and one slope railing ( 16 ) is arranged on each of the left side and the right side of the slope plate ( 15 ).
3 . The balance disorder rehabilitation robot according to claim 1 , wherein the position adjustment platform ( 112 ) comprises a translation table ( 1121 ), a lead screw I ( 1122 ), a belt wheel I ( 1123 ), a belt wheel II ( 1124 ) and a transmission belt ( 1125 ), wherein the belt wheel I ( 1123 ) and the belt wheel II ( 1124 ) are arranged on the supporting base ( 13 ) in front and back; the transmission belt ( 1125 ) is wound on the belt wheel I ( 1123 ) and the belt wheel II ( 1124 ); the translation table ( 1121 ) is affixed to the transmission belt ( 1125 ); the lead screw I ( 1122 ) is arranged in a vertical direction on the translation table ( 1121 ), and is in a threaded connection with the posture adjustment platform ( 111 ); and the height of the posture adjustment platform ( 111 ) is adjustable using the lead screw I ( 1122 ).
4 . The balance disorder rehabilitation robot according to claim 1 , wherein the weight loss protection device ( 2 ) comprises a supporting frame ( 21 ), a cross beam ( 22 ), a sliding table ( 23 ) and a suspension ( 24 ), wherein the cross beam ( 22 ) is arranged on the upper part of the supporting frame ( 21 ) and slidable in the front direction or the rear direction; the sliding table ( 23 ) is arranged on the cross beam ( 22 ) and is slidable along left and right directions; and the suspension ( 24 ) is connected with the sliding table ( 23 ) for connection with suspension straps ( 241 ).
5 . The balance disorder rehabilitation robot according to claim 4 , wherein the supporting frame ( 21 ) is provided with a lead screw II ( 211 ) connected with the cross beam ( 22 ) and configured to adjust a position of the cross beam ( 22 ) in the front direction or the rear direction.
6 . The balance disorder rehabilitation robot according to claim 1 , wherein the virtual projection device ( 3 ) comprises a virtual projection screen ( 31 ) and a plurality of action capturing lenses ( 32 ) arranged on the virtual projection screen ( 31 ); the virtual projection screen ( 31 ) is a curved screen; and the plurality of action capturing lenses ( 32 ) are arranged in multiple points for capturing limb actions of the patient during training.
7 . The balance disorder rehabilitation robot according to claim 1 , wherein the posture adjustment platform ( 111 ) comprises four retractable branch chains.