Emerging Technologies for Health and Medicine

CHAPTER 16TRAINING SYSTEM DESIGN OF LOWER LIMB REHABILITATION ROBOT BASED ON VIRTUAL REALITY

H. WANG¹, M. LIN¹, Z. JIN¹, X. WANG¹, J. NIU¹, H. YU¹, L. ZHANG¹, L. VLADAREANU²

¹ Parallel Robot and Mechatronic System Laboratory of Hebei Province and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao, 066004, China

² Romanian Academy, Institute of Solid Mechanics, Bucharest, Romanian Emails: [e-mail]; [e-mail]

Abstract

This chapter introduces a training system for the lower limb rehabilitation robot based on virtual reality (VR), mainly including trajectory planning and VR control strategy. It can simulate the bike riding and encourage patients to join in the recovery training through the built-in competitive game. The robot could achieve the linear trajectory, circle trajectory and arbitrary trajectory based on speed control, the training velocity and acceleration in the planning trajectory have been simulated. The human-machine dynamics equation was built which is used for judge the patient’s movement intention. The VR training mode is a variable speed active training under the constraint trajectory, and it has adapting training posture function which can provide individual riding training track according to the legs length of patients. The movement synchronization between the robot and virtual model is achieved by interaction control strategy, and robot can change the ...