Research On Training Model Of Lower Extremity Rehabilitation Based On Mixed Reality

In this paper,two lower limb rehabilitation training models based on mixed reality are proposed for different rehabilitation stages.The first one is the training mode of climbing ladder gait correction in the early and middle stage of rehabilitation.The purpose of this training mode is to train the patients in the passive gait of climbing stairs under the guidance of vision.The second one is the training mode of force stimulation in the later stage of rehabilitation which objective is to carry out active muscle recovery training for patients with multi-sensory stimulation such as visual guidance and force perception.Then,a four ropes traction lower limb rehabilitation robot was designed for these two training models,and the overall intelligent control system scheme was designed to to satisfy the interaction of the patient with the virtual object during the training process.in these two models.After the overall scheme is put forward,the kinematic analysis of the mechanism of the lower limb rehabilitation robot is carried out in this paper,which provides the basis for the control of the rehabilitation robot and the interaction between the rehabilitation robot and the mixed reality.In the gait correction training mode of ladder climbing,it is necessary to get the motion data of lower limbs when normal people climb stairs as the input of rehabilitation robot,and then study the position control of rehabilitation robot.In the training mode of force stimulation,a force feedback control system suitable for rehabilitation robot is studied.Mixed reality uses Microsoft’s Holo Lens eyewear to develop it through the unity3 D engine.First build the mixed reality environment in order to create different virtual scenes in the mixed reality environment.In the process of constructing the mixed reality environment,the development of spatial mapping can make the virtual scene and the rehabilitation robot combine accurately in the spatial position.Then the virtual elevator and virtual lawn scene are created for the two training models based on the mixed reality environment.Finally,the network function is developed,and the Holo Lens equipment communicates with the upper computer of the rehabilitation robot through the local area network(LAN),so as to realize the real-time interaction between the patient and the mixed reality scene through the rehabilitation robot.