Research On Virtual Scene And Human-machine Interaction On HEBUT-AR3 Upper Limb Rehabilitation Robot

Patients who have sequelae like hemiplegia caused by the neural damage after cerebral stroke have been increasing year by year.They are unable to do anything by themselves,being a great burden of their family,and this condition may cause a series of social problems.Researches find that patients with cerebral stroke can recover their exercise ability by reconstruction exercise,and Researches find that individual exercise initiative during rehabilitation can accelerate the reconstruction of motor nerve,which provides basic medical theory for adopting rehabilitation of applying virtual reality to upper limb rehabilitation robot.In this paper,virtual reality was integrated with upper limb rehabilitation and virtual game was added in upper limb rehabilitation system,which can realize interaction between the patients and virtual game,and improve enthusiasm of movement and individual exercise initiative.At the beginning,two virtual game scenes(pinball pro and rotating cube)matching with the upper limb rehabilitation of this subject were programmed by deep research in virtual reality and upper limb rehabilitation theory.The two games can exercise shoulder extension,adduction and abduction,internal and external turning and elbow extension.parameters(range of motion and motion speed)produced in process of rehabilitation movement were chose to control the controlled objects in virtual game scenes,which realizes the interaction between patients and virtual scenes.Next,the program frame of virtual game scene was established,the virtual scenes of pinball pro and rotating cube games were bulit by expanding the frames according to the virtual games programmed.The virtual scene was built by OpenGL and VC++.And this platform invokes OpenGL in VC++,administrates context of OpenGL and function pointer by configuring GLFW and GLEW and virtual game scene was established adopting core rendering mode of OpenGL.Thirdly,the interaction system was combined with the robot control system to realize the interaction between the virtual game scene and the patient's training action.The upper computer software LabVIEW can invoke DLL packaging the virtual game scene.This DLL includes function interface of virtual game scene and communication function interface.The upper limb rehabilitation robot assists patients in rehabilitation,and the lower computer collects the angular displacement of robot joints and the movement time parameters by angular displacement sensor in exercise,that are transmitted to the upper computer by serial port.The upper computer communicates with virtual game scene by communication function interface in DLL after receiving parameters and the interaction between patients and virtual game scene is completed.Finally,experiments were done to validate the whole process.Virtual scene interaction system in this paper was applied to the upper limb rehabilitation robot,and this system was debugged.The experimental result indicated that good interaction between patients and virtual game scene was realized by this system,which lays a foundation for the follow-up.