Research Of Virtual Reality Training And Evaluation For Exoskeleton Upper Limb Rehabilitation Robot

The research of exoskeleton upper limb rehabilitation robot has beenwidely recognized in the field of rehabilitation. Compared with thetraditional rehabilitation therapy, rehabilitation robot greatly optimizes theeffect of rehabilitation trainging for hemiplegic patient. And because ofadding the virtual reality (VR) technology, the effect has been moreapparent. The rehabilitation robot and VR technology make the processmore programming, digitization and simplification. In addition, therehabilitation evaluation also plays an important role in the whole system.Based on the first generation exoskeleton upper limb rehabilitationrobot, combined with clinical experiment feedback the renewed secondgeneration exoskeleton upper limb rehabilitation robot has been designed.The paper also programs a package of VR game training software and VRkinematics evaluation software. As for the rehabilitation evaluation aspect, it not only programed the kinematics evaluation software but alsodeveloped an evaluation method based on sEMG.In the first place, the paper studied and analysised the development ofupper limb rehabilitation robot system and also learned much about theprinciple of hemiplegia and rehabilitation including the brain plasticityhypothesis, the motor relearning program and the motion fuctionalevaluation. Meanwhile, the paper also learned much about the functionalelectrical stimulation and the sEMG (surface electromyography).Secondly, the mechanical structure of exoskeleton upper limbrehabilitation robot structure needs to be more safe, agile and scientific.Not only lightened the weight of the robot and also improved the structurein supporting part and braking part according to the Movement point cloud.Moreover, the auxiliary rehabilitation training system for finger and wristcan get better rehabilitation effect for hemiplegia patient.This paper also add virtual reality to the rehabilitation training systemwith the application of VC++, OpenGL,3Ds Max, UG NX and etc. TheVR training software has been abundant, all kinds of element has beenadded into the VR system. The kinematic control evaluation softwaremakes the rehabilitation evaluation process more interest, and it also cancapture the real time data of the training. This paper has a thorough study of the rehabilitation evaluationprocess. It not only maked the existing movement function rating scalemore programmed but also created a new method for the evaluation ofrehabilitation robot and the rehabilitation itself with the help of sEMG.