TWI793947B - A virtual reality balance obstacle training system, method and computer-readable medium thereof - Google Patents

Abstract

The present invention provides a virtual reality balance obstacle training system, method and computer readable medium thereof, including a virtual reality device, a dynamic sensor, a balance obstacle training device and a back-end processing device, wherein the subject performs balance obstacle training on the balance obstacle training device, and the balance obstacle training device detects the subject's tilt data and pressure data, and the dynamic sensor detects the subject's sliding data. Furthermore, the back-end processing device controls the virtual reality image displayed to the subject by the virtual reality device according to the sliding data and the tilt data, and calculate the balance obstacle result of the subject based on the sliding data and the pressure data. Therefore, the present invention uses balance obstacle training to effectively improve the balance obstacle of the subject, and can clearly evaluate the physical condition of the subject through the balance disorder result.

Description

A virtual reality balance obstacle training system, method and computer-readable medium thereof

The present invention relates to a balance obstacle training technology, in particular to a virtual reality balance obstacle training system, method and computer-readable medium thereof.

For patients with balance disorders, the inability to control the upright balance of their bodies will affect their walking, movement and posture, causing problems such as muscle and bone soreness in patients, causing inconvenience in mobility, and seriously reducing the quality of life of patients.

However, the rehabilitation equipment and products on the market cannot effectively improve the patient's balance ability, and do not provide complete and accurate assessment data for the patient during rehabilitation, so that medical personnel such as physical therapists cannot clearly understand the patient's current situation. Balance status, and then make an assessment of the patient.

Therefore, how to provide a balance obstacle training technique that can effectively train the patient's balance and provide clear information about the patient's body balance, so that medical personnel can have accurate assessment basis, has become an urgent issue to be solved in the industry.

In order to solve the aforementioned known technical problems or provide related effects, the present invention provides a virtual reality balance obstacle training system, which includes: a virtual reality device worn on the head of a subject to display a A virtual reality image is given to the subject; a dynamic sensor is worn on the training leg of the subject to detect the sliding data generated by the training leg when sliding; a balance obstacle training device is Comprising a balance board and a treadmill with a pressure sensor, wherein the balance board detects the inclination data of the fixed leg when the subject is standing on the fixed leg, and the treadmill provides the subject with The training leg of the treadmill slides, so that the pressure sensor of the treadmill measures the pressure data of the training leg; and a back-end processing device, which communicates with the virtual reality device, the dynamic sensor and the balance Obstacle training device, to receive the sliding data, the tilt data and the pressure data, so that the back-end processing device can control the virtual reality image according to the sliding data and the tilt data, so that the subject can The balance obstacle training is carried out in the video, and the balance obstacle result produced by the subject undergoing the balance obstacle training is calculated according to the sliding data and the pressure data, so as to serve as a basis for evaluating the subject's balance obstacle.

The present invention further provides a virtual reality balance obstacle training method, which includes: displaying a virtual reality image to the subject by a virtual reality device worn on the head of a subject; The dynamic sensor of the training leg of the subject detects the sliding data generated by the training leg when sliding; when the balance board of a balance obstacle training device is standing on the fixed leg of the subject, it detects The inclination data of the fixed leg; the treadmill of the balance obstacle training device provides the training leg of the subject to slide, wherein the treadmill is provided with a pressure sensor for measuring the pressure data of the training leg; receiving the sliding data, the tilt data and the pressure data by a back-end processing device, so as to control the virtual reality image according to the sliding data and the tilt data for the The subject performs balance obstacle training in the virtual reality image; and the back-end processing device calculates the balance obstacle result generated by the subject performing the balance obstacle training based on the sliding data and the pressure data, so that the The balance disorder result is used as the basis for evaluating the subject's balance disorder.

In one embodiment, the gliding data includes at least one of the number of gliding of the training leg and the gliding time of each gliding, linear acceleration, angular velocity and orientation, and the inclination data includes the fixed leg on the balance board At least one of the angle of inclination and the direction of inclination, and the pressure data include at least one of the moment and the reaction force of each sliding of the training leg.

In one embodiment, the back-end processing device includes a device for setting the physiological data of the subject, the dynamic sensor is located at the sensing position of the training leg of the subject, and the virtual reality device displays A parameter setting module for the difficulty and environment of the virtual reality image.

In one embodiment, the back-end processing device includes a calibration module for setting the speed sensitivity level range of the dynamic sensor, the angle sensitivity level range of the balance board and the resistance level range of the treadmill, and Wherein, the back-end processing device adjusts the moving speed of the subject in the virtual reality image according to the speed sensitivity level range, adjusts the running belt resistance of the treadmill according to the resistance level range, and adjusts the running belt resistance according to the angle sensitivity level range. Adjust the steering magnitude in the virtual reality image.

In one embodiment, the back-end processing device includes a processing module, which uses a plantar pressure center formula to calculate the plantar pressure center of the subject every time he slides according to the sliding data and the pressure data.

In one embodiment, the processing module calculates the joint angles of the hip joint, knee joint and ankle joint of the training leg according to the sliding data, and calculates the joint angles of the hip joint, knee joint and knee joint of the training leg according to the sliding data. The joint angles of joints and ankle joints and the pressure data are used to calculate the joint moments of the hip joints, knee joints and ankle joints of the training leg through a torque formula, and the processing module integrates the hip joints and knee joints of the training leg And the joint angle and joint torque of the ankle joint to form a joint data, and the balance disorder result includes the joint data.

In one embodiment, the processing module uses a distance formula to calculate the sliding distance of the subject based on the sliding data, calculates the moving speed of the subject based on the sliding data, and calculates the subject's moving speed based on the sliding data using a frequency formula. The subject's walking frequency, and the total body displacement of the subject is calculated according to the center of plantar pressure of the subject's sliding each time, wherein the processing module uses the sliding distance, the moving speed, the walking frequency and The total body displacement is integrated into time and space data, and the balance disorder result includes the time and space data.

In one embodiment, the processing module compares the final balance obstacle result of the last balance obstacle training with the standard value of a healthy subject according to the initial balance obstacle result of the subject who performed the balance obstacle training for the first time , to judge whether the subject has improved balance disorder.

The present invention also provides a computer-readable medium, which is applied to a computer or computing device with a processor and/or memory, and the computer or the computing device executes a target program and the computer-readable medium through the processor and/or memory , and for executing the above-mentioned virtual reality balance obstacle training method when executing the computer readable medium.

As can be seen from the above, the virtual reality balance obstacle training system and method of the present invention and its computer-readable medium mainly detect the sliding data generated by the subject during the balance obstacle training through the dynamic sensor and the balance obstacle training device , tilt data and pressure data, and the back-end processing device controls the virtual reality image according to the sliding data and the tilt data, so that the subject can Sliding in the real-world image, and calculating the balance disorder result of the subject based on the sliding data and the pressure data. Therefore, the present invention provides subjects with single-leg sliding exercise through the balance obstacle training device, which can effectively improve the balance and neuroplasticity of the subject, and is more based on the data detected by the dynamic sensor and the balance obstacle training device It can effectively evaluate the physical condition of the subject, and then improve the balance disorder of the subject.

1: Virtual Reality Balance Obstacle Training System

10: Virtual reality device

20: Motion sensor

30: Balance obstacle training device

31: Treadmill

32:Balance board

40: Back-end processing device

41: Parameter setting module

42: Correction module

43: Processing module

44: Storage module

8:Virtual reality image

9: Subject

S41 to S46: Steps

FIG. 1 is a schematic diagram of the structure of the virtual reality balance obstacle training system of the present invention.

Fig. 2 is a schematic diagram of an embodiment of the virtual reality balance obstacle training system of the present invention.

Fig. 3 is a schematic diagram of an embodiment of the changing direction of the virtual reality balance obstacle training system of the present invention.

Fig. 4 is a schematic flow chart of the virtual reality balance obstacle training method of the present invention.

The implementation of the present invention is described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for the understanding and reading of those familiar with this technology, and are not used to limit the implementation of the present invention Qualifying conditions, so there is no technical substantive significance, any Modification of structure, change of proportional relationship or adjustment of size shall still fall within the scope covered by the technical contents disclosed in the present invention without affecting the functions and objectives of the present invention. At the same time, terms such as "a", "first", "second", "upper" and "lower" quoted in this specification are only for the convenience of description and are not used to limit the scope of the present invention. The scope of implementation, the change or adjustment of its relative relationship, without substantial change in technical content, shall be regarded as the scope of implementation of the present invention.

FIG. 1 is a schematic diagram of the structure of the virtual reality balance obstacle training system 1 of the present invention. As shown in Figure 1, the virtual reality balance obstacle training system 1 includes: a virtual reality device 10, a dynamic sensor 20, a balance obstacle training device 30 and a back-end processing device 40, wherein the balance obstacle training The device 30 includes a treadmill 31 and a balance board 32 , and the back-end processing device 40 includes a parameter setting module 41 , a calibration module 42 , a processing module 43 and a storage module 44 . In addition, the virtual reality device 10 , the dynamic sensor 20 and the balance obstacle training device 30 are communicatively connected (or electrically connected) to the back-end processing device 40 through Bluetooth, Wi-Fi or other wireless or wired communication methods.

The virtual reality device 10 can be a device that can provide virtual reality images such as virtual reality (Virtual Reality, VR) glasses, which is worn on the head of a subject 9 to display a virtual reality image 8 (as shown in Figure 2) to subject 9.

The dynamic sensor 20 is an inertial measurement unit (Inertial Measurement Unit, IMU), which is respectively worn on the ankle of the training leg of the subject 9 to detect when the training leg of the subject 9 is in motion Linear acceleration, angular velocity and orientation etc.

In one embodiment, during the balance obstacle training, the dynamic sensor 20 detects the sliding times of the training leg of the subject 9 and the sliding data of each sliding time, linear acceleration, angular velocity and orientation. On the other hand, a complete skating is from the training leg of subject 9 Touch the running belt of the treadmill 31 for the first time, kick back, bend the knee, hang the leg in the air, and finally the training leg of the subject 9 touches the running belt of the treadmill 31 for the second time.

The balance obstacle training device 30 includes a balance board 32 and a treadmill 31 provided with a pressure sensor (not shown), wherein the treadmill 31 can be a treadmill with a single belt or a double belt. The board 32 is a balance device that can detect the tilt angle and tilt direction, for example: a skateboard equipped with an inertial measurement unit (IMU) to detect the tilt angle of the skateboard through the inertial measurement unit, and the pressure sensor is set on the running board Machine 31 runs off the belt. It should be noted that the single-leg sliding action is similar to the walking action, so the present invention provides the subject 9 to perform the single-leg sliding exercise (that is, balance obstacle training) through the balance obstacle training device 30, which can effectively improve the balance of the subject 9 And neuroplasticity, and exercise the coordination of whole body movements such as upper limbs and lower limbs, so as to improve the balance disorder of subject 9.

In one embodiment, the balance board 32 is set on the single-belt treadmill, so that the fixed leg of the subject 9 stands on the balance board 32, and the training leg of the subject 9 stands on the single-belt treadmill. or, the balance board 32 is movably arranged on one of the running belts of the double-belt treadmill, so that the fixed leg of the subject 9 stands on the balance board 32, and the training leg of the subject 9 Stand on the other running belt of the dual-belt treadmill.

Therefore, when performing balance obstacle training through the balance obstacle training device 30, the subject 9 uses the fixed leg to stand on the balance board 32, and the training leg performs single-leg sliding on the running belt of the treadmill 31, and the balance board 32 Measure the inclination angle and inclination data of the fixed leg inclination, and then control the moving direction of the subject 9 in the virtual reality image 8 (as shown in FIG. 3 ). For example: if the inclination direction of the fixed leg on the balance board 32 is inclined to the left, then the moving direction in the virtual reality image 8 is to move to the left, and the larger the inclination angle of the balance board 32 is, the larger the inclination angle is in the virtual reality image 8 The greater the curvature in the direction of movement.

In one embodiment, the pressure sensor is installed under the running belt of the treadmill 31, and the pressure sensor first detects the start of the subject 9 standing on the treadmill 31 with both legs before the start of the balance obstacle training. position (or original point), wherein, during balance obstacle training, the pressure sensor measures the pressure data of the torque and reaction force applied to the running belt of the treadmill 31 when the training leg of the subject 9 slides each time . It should be noted that when the subject's training leg moves, the reaction force measured by the pressure sensor includes the subject's weight plus the force exerted by its muscles and center of gravity, and will be supported and exerted in a certain proportion. Press on the running belt of the treadmill 31 to move the training legs. In addition, the posture, manner and speed of walking will also affect the reaction force.

The back-end processing device 40 can be built in servers (such as general-purpose servers, file-type servers, storage unit-type servers, etc.) and computers with appropriate calculation mechanisms, and the back-end processing device 40 The parameter setting module 41, the calibration module 42, the processing module 43 and the storage module 44 can be software, hardware or firmware; if it is hardware, it can be a processing unit with data processing and computing capabilities , processor, computer or server; if it is software or firmware, it may include instructions executable by a processing unit, processor, computer or server, and may be installed on the same hardware device or distributed across multiple different hardware device.

In this embodiment, the parameter setting module 41 in the back-end processing device 40 is to provide the tester to set the physiological data (including weight, height or leg length) of the subject 9, and the dynamic sensor 20 is located at the subject 9 The sensing position of the training leg (or claiming the wearing position) and the difficulty and environment of the virtual reality image 8 displayed by the virtual reality device 10, wherein, the difficulty of the virtual reality image 8 is shown in Table 1 below, and the virtual reality image 8 The environment of the reality image 8 includes a beach, a city, or a forest. For example, when the tester sets the difficulty of the virtual reality image 8 to be difficult through the parameter setting module 41, and the environment of the virtual reality image 8 is a city, the virtual reality image displayed by the virtual reality device 10 8 That is to say, a city scene will be generated, including a curved road with obstacles (such as vehicles and pedestrians), so that the subject 9 can feel that he is on the curved road for balance obstacle training.

Table 1: Difficulty of virtual reality images

In this regard, the testers can set the appropriate difficulty of the virtual reality image 8 according to the physical condition of the subject 9, so as to provide the subject 9 with balance obstacle training, and use different environments of the virtual reality image 8 to improve the subject Subject 9's willingness to train, so as to avoid the long-term balance obstacle training that makes subject 9 feel boring, which will lead to poor training results.

In this embodiment, the correction module 42 in the back-end processing device 40 is to provide the tester to set the speed sensitivity level range of the dynamic sensor 20, the angle sensitivity level range of the balance board 32 and the resistance level range of the treadmill 31, Wherein, the speed sensitivity level ranges from 1.0 to 2.0 with a division of 0.1; the angle sensitivity level ranges from 1.0 to 2.0 with a division of 0.1; and the resistance level ranges from 1.0 to 2.0 with a division of 0.1. In another embodiment, the calibration module 42 can receive the starting position of the subject 9 on the treadmill 31 detected by the pressure sensor for calibration.

Specifically, if the calibration module 42 sets the speed sensitivity level range of the motion sensor 20 to 2, then when the training leg of the subject 9 moves at a speed of 1 meter per second (1 meter/sec), The moving speed of the subject 9 in the virtual reality image 8 is 2 meters per second (2 meter/sec); if the calibration module 42 sets the angle sensitivity level range of the balance board 32 to 1.5, then the subject When the fixed leg of the subject 9 is inclined at an angle of 1 degree on the balance board 32, the inclination of the subject 9 in the virtual reality image 8 The inclination angle is 1.5 degrees; and if the resistance level range of the treadmill 31 is set by the calibration module 42 to be 1.2, then the running belt resistance of the treadmill 31 is multiplied by 1.2 times the original running belt resistance, so that the subject 9 is sliding more force is required. In one embodiment, the speed sensitivity level of the dynamic sensor 20, the angle sensitivity level of the balance board 32, and the resistance level of the treadmill 31 are collectively referred to as the sensitivity level, which can be adjusted according to the sliding state of the subject 9. If discomfort is felt, the sensitivity level may be adjusted to reduce Subject 9's discomfort.

In this embodiment, the processing module 43 in the back-end processing device 40 receives the sliding data detected by the dynamic sensor 20, the tilt data detected by the balance board 32 and the pressure sensor during the balance obstacle training. The measured pressure data.

In one embodiment, the walking posture, manner and speed of the subject 9 will affect the reaction force exerted by the subject 9 on the running belt of the treadmill 31 . In this regard, the processing module 43 standardizes the reaction force of the pressure data according to the standardization formula (1) to obtain the standardized reaction force, wherein the standardization formula (1) is as follows:

Among them, when subject 9 was standing, his muscle strength was 0.

In one embodiment, the processing module 43 calculates the moving position of the leg of the training leg of the subject 9 for each sliding according to the linear acceleration, angular velocity, and orientation of the sliding data, and then calculates the swing distance of each sliding, and the processing module Group 43 then calculated the center of pressure (Center of Pressure, CoP) formula (2) according to the swing distance of each slide and the torque generated by each slide in the pressure data and the standardized reaction force to calculate the weight of each slide of subject 9. The plantar pressure center at , where the formula (2) of the plantar pressure center is as follows:

Furthermore, the processing module 43 counts the center of plantar pressure generated by each gliding to provide testers with subsequent ground time-domain and frequency-domain analysis. Specifically, the processing module 43 calculates the total body displacement (cm) of the subject 9 according to the center of plantar pressure (CoP) generated by each slide and using the body displacement formula (3), wherein, the body displacement formula ( 3) as follows:

Therefore, when subject 9 performed balance obstacle training, healthy subjects without balance obstacles would use stable movements and a small amount of body shaking to slide forward; on the contrary, subjects with balance obstacles, During the balance obstacle training, the degree of body shaking and inclination increased and the range of displacement became larger. Furthermore, after balance obstacle training, the body and sliding movements will be more stable, the degree of tilting and shaking will be reduced, and the range of displacement will become smaller. In addition, subjects with balance disorders, although the displacement range is large, the data points collected are the same as those of the movement with small displacement range, so they will not complete more gliding movements due to the large degree of shaking.

In one embodiment, the processing module 43 calculates the joint angles (degrees) of the hip joints, knee joints, and ankle joints of the training leg according to the linear acceleration, angular velocity, and orientation in the sliding data, and using a formula such as Euler Angle. ). Furthermore, the processing module 43 calculates the hip joints of the training legs according to the standardized reaction force, the joint angles of the hip joints, knee joints and ankle joints, and the leg length of the subject 9 in the physiological data using the moment formula (4). The joint moment (Newton meter) of the knee joint and the ankle joint is used to integrate the joint angles and joint moments of the hip joint, knee joint and ankle joint through the processing module 43 to form joint data, wherein the moment formula (4) is as follows :.

Joint torque = standardized reaction force × radius × sinθ Formula (4)

where θ is the joint angle of the hip, knee or ankle; and radius is the leg length of subject 9. In addition, the processing module 43 can estimate the leg length of the subject 9 by using a certain body length ratio according to the height of the subject 9 in the physiological data.

In one embodiment, the processing module 43 uses the distance formula (5) to calculate the sliding distance (Distance) (meters) of the subject 9 according to the leg movement position of each sliding, wherein the distance formula (5) is as follows Show:

Wherein, r _G is the moving position of the leg when the dynamic sensor 20 detects that the training leg is swinging.

In one embodiment, the processing module 43 calculates the moving speed (meter/second) of the subject 9 according to the leg movement position (r _G ) and the sliding time of each sliding, and the processing module 43 calculates the moving speed (meter/second) according to the calibration The speed sensitivity level range set by the module 42 adjusts the moving speed of the subject 9 in the virtual reality image 8, and the processing module 43 adjusts the running belt of the treadmill 31 according to the resistance level range set by the correction module 42 Resistance, thereby prompting subject 9 to perform single-leg sliding (that is, to perform balance obstacle training), and to strengthen the effect of balance obstacle training.

In one embodiment, the processing module 43 calculates the walking frequency (or sliding frequency) (steps/minute) of the subject 9 according to the number of times of sliding in the sliding data and the total sliding time using the frequency formula (6), wherein, the total The taxiing time is the accumulation of each taxiing time, and the frequency formula (6) is as follows:

In addition, the processing module 43 integrates the gliding distance, moving speed, walking frequency and total body displacement into a time and space data, and integrates the gliding distance, moving The moving speed and walking frequency are displayed in the virtual reality image 8 of the virtual reality device 10 to provide the subject 9, as shown in Figures 2 and 3, wherein the moving speed displayed in the virtual reality image 8 is the movement speed adjusted by the speed sensitivity level range.

In one embodiment, the processing module 43 forms a balance disorder result according to the time and space data and the joint data, as a basis for evaluating the balance disorder of the subject 9 . Furthermore, the processing module 43 compares the final balance obstacle result of the last balance obstacle training with the standard value of healthy subjects according to the initial balance obstacle result of the subject 9 who performed the balance obstacle training for the first time, and then judges the subject 9. Whether the balance disorder has been improved after repeated balance obstacle training, among which, the comparison table of the balance obstacle results is shown in Table 2 below:

Table 2: Comparison table of balance disorder results

In one embodiment, the processing module 43 controls the forward direction of the subject 9 in the virtual reality image 8 according to the tilt angle and tilt direction in the tilt data. The angle sensitivity level range adjusts the inclination angle of the subject 9 on the balance board 31 , and then adjusts the turning range of the subject 9 in the virtual reality image 8 .

In this embodiment, the storage module 44 in the back-end processing device 40 stores the sliding data detected by the dynamic sensor 20, the tilt data detected by the balance board 32, and the pressure measured by the pressure sensor. Data, the joint data calculated by the processing module 43, the track of the plantar pressure center, and the result of the balance disorder.

The following is an embodiment of the virtual reality balance obstacle training system of the present invention, and it is explained with reference to FIGS. 1 to 3 .

In this embodiment, a subject 9 performs balance obstacle training multiple times within a training period (eg, 6 weeks) through the virtual reality balance obstacle training system 1 . Specifically, the subject 9 wears a virtual reality device 10 (such as VR glasses) on the head, and wears a dynamic sensor 20 on the ankle of the training leg (one of the left leg or the right leg) and stands on the On the treadmill 31 of the balance obstacle training device 30, and its fixed leg (the other leg of the left leg or the right leg) stands on the balance board 32 of the balance obstacle training device 30, so that the subject 9 is on the balance obstacle training device 30 to slide on one foot, and the subject 9 performs balance obstacle training in the virtual reality image 8 through the virtual reality device 10 . It should be understandable that at this time the subject 9 will perform a motion like skateboarding.

Furthermore, when performing balance obstacle training, the dynamic sensor 20 detects the gliding data (including the number of gliding times and the gliding time of each gliding, linear acceleration, angular velocity and orientation) of the subject 9 during exercise. One of them), the pressure sensor of the balance obstacle training device 30 measures the pressure data (at least one of the moment and the reaction force of each slide) applied to the running belt of the treadmill 31 by the training leg of the subject 9 ) and the balance board 32 detect the inclination data (including at least one of inclination angle and inclination direction) when the fixed leg of the subject 9 is inclining, and the sliding data, pressure data and inclination data are sent to the back-end processing device 40.

After that, the back-end processing device 40 controls the moving direction of the subject 9 in the virtual reality image 8 according to the tilt data, and controls the moving speed of the subject 9 in the virtual reality image 8 according to the sliding data. What's more, the back-end processing device 40 calculates the balance obstacle training result of the subject 9's balance obstacle training based on the sliding data and the pressure data, and the back-end processing device 40 performs the balance obstacle training for the subject 9 for the first time. The results of the initial balance disorder generated were compared with the final balance disorder results produced by the last balance obstacle training of subject 9 and the standard values of healthy subjects (as shown in Table 2) to judge subject 9 Whether the balance disorder has improved.

Specifically, as shown in Table 2, after subject 9 underwent multiple balance obstacle trainings, the final balance obstacle results of subject 9 showed that its gliding distance, walking frequency and moving speed were significantly improved (that is, Subject 9’s exercise ability increased when skating), and the total body displacement also decreased (that is, the body shaking of Subject 9 was more stable when skating), and the joint angle became larger (that is, the activity of Subject 9’s joints has improved). In addition, subject 9 also met the standard values of healthy subjects. Therefore, subject 9 has overcome the balance obstacle after the balance obstacle training.

Fig. 4 is a schematic flow chart of the virtual reality balance obstacle training method of the present invention, which is explained together with reference to Fig. 1 to Fig. 3 , wherein the method flow includes the following steps S41 to S46:

In step S41, the back-end processing device 40 is to provide the tester to set the physiological data of the subject 9, the sensing position of the dynamic sensor 20 in the training leg of the subject 9 and the virtual reality device 10 displayed. Difficulty and environment of reality video 8.

In step S42, the head of the subject 9 is equipped with a virtual reality device 10 and the training leg is equipped with a dynamic sensor 20, and when the subject 9 performs balance obstacle training on the balance obstacle training device 30, the virtual The reality device 10 displays the virtual reality image 8 to the subject 9, and the subject 9 trains One-leg sliding is performed on the balance obstacle training device 30 for leg training, so that the subject 9 can perform a motion like sliding a skateboard in the virtual reality image 8 .

In step S43, when performing balance obstacle training, the dynamic sensor 20 detects the sliding data of the training leg of the subject 9, and the balance obstacle training device 30 detects the tilt data and amount of the fixed leg of the subject 9 Measure the pressure data of the training leg of subject 9.

In step S44 , the back-end processing device 40 receives the sliding data, tilt data and pressure data of the subject 9 .

In step S45 , the back-end processing device 40 controls the forward direction and moving speed of the subject 9 in the virtual reality image 8 according to the tilt data and sliding data of the subject 9 .

In step S46, the back-end processing device 40 calculates the balance obstacle training result of the balance obstacle training of the subject 9 according to the sliding data and the pressure data.

In addition, the present invention also discloses a computer-readable medium, which is applied to a computing device or computer having a processor (for example, CPU, GPU, etc.) and/or memory, and stores instructions, and can be used by this computing device or The computer executes the computer-readable medium through the processor and/or memory, so as to execute the above-mentioned method and each step when executing the computer-readable medium.

To sum up, the virtual reality balance obstacle training system and method of the present invention and its computer-readable medium use dynamic sensors and balance obstacle training devices to detect the sliding of subjects during balance obstacle training data, tilt data and pressure data, and the back-end processing device controls the virtual reality image based on the sliding data and the tilt data, so that the subject slides in the virtual reality image, and based on the sliding data and the Stress data is used to calculate the balance disorder result of the subject. Therefore, the present invention provides subjects with single-leg sliding exercise through the balance obstacle training device, which can effectively improve the balance and neuroplasticity of the subjects, and is more based on dynamic sensors and balance The data detected by the balance obstacle training device can effectively evaluate the physical condition of the subject, and then improve the balance obstacle of the subject.

In addition, the virtual reality balance obstacle training system, method and computer-readable medium of the present invention have the following advantages or technical effects.

1. The present invention uses a virtual reality device (such as VR glasses) to provide virtual reality images to the subject, and can set the appropriate difficulty of the virtual reality image according to the physical condition of the subject to provide the subject with a balance Obstacle training. In addition, different virtual reality image environments are used to enhance the willingness of the subjects to train, so as to prevent the subjects from feeling bored due to the long-term balance obstacle training, which will lead to poor training results.

2. The present invention adjusts the moving speed of the subject in the virtual reality image and the resistance of the running belt of the treadmill in the balance obstacle training device by setting the speed sensitivity level range of the dynamic sensor and the resistance level range of the treadmill , thus prompting the subjects to perform balance obstacle training, and strengthening the effect of balance obstacle training. Furthermore, by setting the angle sensitivity level range of the balance board, the subject's turning range in the virtual reality image is adjusted to train the subject's reaction force.

3. The present invention utilizes the dynamic sensor and the balance obstacle training device to detect the sliding data, tilt data and pressure data generated by the subject during the balance obstacle training, which can effectively evaluate the physical condition of the subject and improve the performance of the subject. The subject's balance disorder.

The above-mentioned embodiments are only illustrative to illustrate the principles and effects of the present invention, and are not intended to limit the present invention. Anyone skilled in the art can modify and change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the rights of the present invention should be listed in the scope of the patent application.

1: Virtual Reality Balance Obstacle Training System

10: Virtual reality device

20: Motion sensor

30: Balance obstacle training device

31: Treadmill

32:Balance board

40: Back-end processing device

41: Parameter setting module

42: Correction module

43: Processing module

44: Storage module

9: Subject

Claims (15)

A virtual reality balance obstacle training system, comprising: a virtual reality device, worn on the head of a subject to display a virtual reality image to the subject; a dynamic sensor, Worn on the training leg of the subject to detect the sliding data generated by the training leg when sliding; a balance obstacle training device includes a balance board and a treadmill with a pressure sensor, wherein, The balance board detects the inclination data of the fixed leg when the subject is standing on the fixed leg, and the treadmill provides the training leg of the subject to slide for the pressure sensor of the treadmill measuring pressure data of the training leg; and a back-end processing device that is communicatively connected to the virtual reality device, the motion sensor and the balance obstacle training device to receive the sliding data, the tilt data and the pressure data , so that the back-end processing device can control the virtual reality image according to the sliding data and the tilt data, so that the subject can perform balance obstacle training in the virtual reality image, so as to calculate according to the sliding data and the pressure data The result of the balance disorder produced by the subject's balance disorder training is used as a basis for evaluating the subject's balance disorder, wherein the back-end processing device includes a processing module, and the processing module is based on the subject The tester's initial balance disorder result of the balance disorder training for the first time is compared with the final balance disorder result of the last balance disorder training and the standard value of a healthy subject to determine whether the subject has improved balance disorder. The virtual reality balance obstacle training system as described in Claim 1, wherein the gliding data includes the number of gliding of the training leg and the gliding time, linear acceleration, and angular velocity of each gliding At least one of degree and orientation, the inclination data includes at least one of the inclination angle and inclination direction of the fixed leg on the balance board, and the pressure data includes the moment and reaction of each sliding of the training leg at least one of the forces. The virtual reality balance obstacle training system as described in Claim 1, wherein the back-end processing device includes a device for setting the physiological data of the subject, and the dynamic sensor is located on the training leg of the subject A parameter setting module for detecting position, difficulty and environment of the virtual reality image displayed by the virtual reality device. The virtual reality balance obstacle training system as described in Claim 1, wherein the back-end processing device includes a device for setting the speed sensitivity level range of the dynamic sensor, the angle sensitivity level range of the balance board and the running A correction module for the resistance level range of the treadmill, and wherein, the back-end processing device adjusts the moving speed of the subject in the virtual reality image according to the speed-sensitive level range, and adjusts the treadmill speed according to the resistance level range The running belt resistance, and the steering range adjusted in the virtual reality image according to the angle sensitivity level range. The virtual reality balance obstacle training system as described in Claim 1, wherein, the processing module calculates the plantar pressure center of the subject for each sliding by using a plantar pressure center formula based on the sliding data and the pressure data. The virtual reality balance obstacle training system as described in claim 5, wherein, the processing module calculates the joint angles of the hip joint, knee joint and ankle joint of the training leg according to the sliding data, and the hip joint angle of the training leg The joint angles of joints, knee joints and ankle joints and the pressure data are used to calculate the joint moments of the hip joints, knee joints and ankle joints of the training leg through a torque formula, and the processing module integrates the hip joints of the training leg , joint angle and joint moment of knee joint and ankle joint to form a joint data, and the balance disorder result includes the joint data. The virtual reality balance obstacle training system as described in Claim 5, wherein, the processing module calculates the sliding distance of the subject by using a distance formula based on the sliding data, and calculates the moving speed of the subject based on the sliding data , using a frequency formula to calculate the walking frequency of the subject according to the gliding data, and calculating the total body displacement of the subject according to the plantar pressure center of the subject each time gliding, wherein the processing module will The gliding distance, the moving speed, the walking frequency and the total body displacement are integrated into a time and space data, and the balance disorder result includes the time and space data. A virtual reality balance obstacle training method, comprising: displaying a virtual reality image to the subject by a virtual reality device worn on the head of a subject; The dynamic sensor of the training leg detects the sliding data generated by the training leg when sliding; the balance board of a balance obstacle training device detects the inclination of the fixed leg when the fixed leg of the subject is standing Data; provided by the treadmill of the balance obstacle training device to slide the training leg of the subject, wherein the treadmill is provided with a pressure sensor for measuring the pressure data of the training leg; processed by a backend The device receives the sliding data, the tilt data and the pressure data, and controls the virtual reality image according to the sliding data and the tilt data, so that the subject can perform balance obstacle training in the virtual reality image; The back-end processing device calculates the balance obstacle result generated by the subject performing the balance obstacle training based on the sliding data and the pressure data, so as to use the balance obstacle result as a basis for evaluating the subject's balance obstacle; and The back-end processing device compares the final balance obstacle result of the last balance obstacle training with the standard value of a healthy subject based on the initial balance obstacle result of the subject's first balance obstacle training to determine the Whether the subject has improved balance impairment. The virtual reality balance obstacle training method as described in Claim 8, wherein the sliding data includes at least one of the number of slidings of the training leg and the sliding time of each sliding, linear acceleration, angular velocity and orientation, the inclination The data includes at least one of the inclination angle and the inclination direction of the fixed leg on the balance board, and the pressure data includes at least one of the moment and the reaction force of each sliding of the training leg. The virtual reality balance obstacle training method as described in Claim 8, further comprising setting the physiological data of the subject by the back-end processing device, the dynamic sensor is located at the sensing position of the training leg of the subject, and The difficulty and environment of the virtual reality image displayed on the virtual reality device. The virtual reality balance obstacle training method as described in Claim 8, further comprising setting the speed sensitivity level range of the dynamic sensor, the angle sensitivity level range of the balance board and the resistance level of the treadmill by the back-end processing device range, wherein the back-end processing device adjusts the moving speed of the subject in the virtual reality image according to the speed sensitivity level range, and the back-end processing device adjusts the running belt of the treadmill according to the resistance level range resistance, and the steering range adjusted in the virtual reality image according to the angle sensitivity level range by the back-end processing device. The virtual reality balance obstacle training method as described in Claim 8, further comprising calculating, by the back-end processing device, the plantar pressure center of the subject for each sliding by using a plantar pressure center formula based on the sliding data and the pressure data . The virtual reality balance obstacle training method as described in Claim 8, further comprising: The back-end processing device calculates the joint angles of the hip joint, knee joint and ankle joint of the training leg based on the sliding data; and the rear-end processing device calculates the joint angles of the training leg's hip joint, knee joint and ankle joint The angle and the pressure data are used to calculate the joint moments of the hip joint, knee joint and ankle joint of the training leg through a torque formula, wherein the joints of the hip joint, knee joint and ankle joint of the training leg are collected by the rear-end processing device Angle and joint moment to form a joint data, and the balance disorder result includes the joint data. The virtual reality balance obstacle training method as described in claim 12, further comprising: the back-end processing device uses a distance formula to calculate the sliding distance of the subject based on the sliding data; the back-end processing device calculates the sliding distance according to the Calculate the moving speed of the subject based on the gliding data; use a frequency formula to calculate the walking frequency of the subject based on the gliding data; The plantar pressure center of the subject calculates the total body displacement of the subject, wherein the sliding distance, the moving speed, the walking frequency and the total body displacement are integrated into a time and space data by the back-end processing device, and the Balance disorder results include this temporal and spatial data. A computer-readable medium, used in a computing device or a computer, stores instructions to execute the virtual reality balance obstacle training method described in any one of claims 8 to 14.

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