Virtual Scene Establishment And Interactive Realization Research Of Pedal-powered Lower Limb Rehabilitation Robot

In recent years, patients with lower limb dysfunction caused by the cerebrovascular disease, nervous system disease, stroke disease or traffic accident is ever increasing, it not only increases the burden of society, but also influences patient’s normal life.To use robots for rehabilitation training can meet the basic requirement of patients’ rehabilitation training,reduce the workload of doctors, but the training process is boring. Virtual reality technology has advantages of multi-sensory, immersion and interactivity, etc, So using virtual reality technology in lower limb rehabilitation training not only makes the rehabilitation training more interesting, but also increases patients’ initiative of rehabilitation therapy. The realization of the interaction between pedal-powered lower limb rehabilitation robot and virtual scene is deeply studied, mainly has the following several aspects:In the first place, virtual reality technology is deeply studied, and the pedal-powered lower limb rehabilitation robot virtual reality scenes are planned. Based on the deeply studied of advantages, classification, application of virtual reality, virtual scene modeling technology, lower limb rehabilitation training theory and human-computer interaction technology, plane roaming scene and outdoor cycling scene which match with pedal-powered lower limb rehabilitation robot are planned.Secondly, according to the planned virtual training scenes, plane roaming scene and outdoor cycling scene are completed. OpenGL graphics library, VC++ development platform and three-dimensional modeling software Milkshape3 D are selected as virtual scene development tool, the basic structure of virtual scene is finished. And according to the key technology of virtual scene, such as environment modeling technology, texture mapping technology, etc, OpenGL is used to render terrain, sky and other simple scene and combine with Milkshape3 D to render complex scene, such as house and plane. Finally the construction of virtual scenes are completed.Thirdly, hardware selection, build and software programming of pedal-powered lower limb rehabilitation robot passive control strategy is completed. The design of lower limb rehabilitation virtual reality software system is finished, it mainly includes informationmanagement module, virtual scene module, human-computer interaction module and MSComm serial communication module. Finally, the interaction between lower limb rehabilitation robot and virtual scene is completed.Finally, experimental verification. Make joint commissioning of pedal-powered lower limb rehabilitation robot and virtual scene, through the experiment proves that the interaction performance between pedal-powered lower limb rehabilitation robot and virtual scene is good, it can raise the enthusiasm of patients’ rehabilitation training.