結合虛擬實境技術之環境適應步行及平衡復健訓練系統之實體開發

　　　　　本研究之主要目標係自行設計並製作一臺結合虛擬實境技術之環境適應步行及平 衡復健訓練系統，硬體包括步行訓練機構及活動平臺、懸吊式體重支撐機構、穿戴式腳壓感 測器、障礙環境模擬機構及虛擬實境頭盔顯示器等。至於步行訓練機構及活動平台將其有步 行機履帶速度控制、活動平台傾斜控制與拖曳障礙環境模組之功能；懸吊式體重支撐機構則 是利用電動缸及重量感測單元設計回饋式支撐病患部份體重的功能， 使患者能在抗重力 (anti-gravity) 之情況下，安全地接受復健訓練； 穿戴式腳壓感測器將具有即時監測與後 處理分析腳底壓力分佈之功能，可供舀師做為評估、診斷復健訓練效果之依據。至於障礙環 境模擬機構則包括電磁閥及彈簧機構，具有儲存和運送障礙物模板之功能。另外為了能達到 虛擬環境影像回饋互動之訓練效果， 本研究也採用 SuperScape 　 VRT 軟體進行場景設計 ，並透過應用軟體開發工具 SDK 整合各項硬體控制介面； 本系統之完成將可供病患在出院 前，便能在醫院內透過虛擬電腦影像環境之場景，重複學習適應環境及步行之能力，增加其 回歸社會之自信心。
　　　　　The objective of this research is to develop an environmental adaptation rehabilitation system with virtual reality biofeedback technologies. The hardware of this system consists of walking treadmill, moving plateform, body weight support suspension mechanism, wearable foot plantar pressure sensing device, environmental barrier simulated modules, and virtual reality head mounted display etc. The walking treadmill with moving plateform has speed control for treadmill belt, tilling control for moving plateform and synchronized moving control of environmental barrier simulated modules. Body weight support suspension mechanism utilizes electrical actuator and load cell for body weight support bio-feedback. Wearable foot pressure sensing device has real-time pressure monitoring and plantar pressure distribution post-processing functions which may used as a quantitative assessment tool for evaluating rehabilitation therapeutic performance. The environmental barrier simulated modules consist of relay and spring mechanism for stacking and transporting simulated modules. In addition, the Superscape VRT and SDK software were used to design the 3D scene and control interface for visual feedback rehabilitation program. This system may be used to train patient to cope with various environmental barriers and thus improving their quality of life.