Development Of Virtual Reality Subsystem Based On Upper Limb Rehabilitation Robot

With the increasing pace of life and the increasing pressure in people’s life,more and more people ignore the health of cardiovascular and cerebrovascular diseases,and the number of stroke patients increases year by year.The incidence of stroke is high,the recurrence rate is high,and the incidence of stroke is often accompanied by a great probability of limb movement loss sequelae,seriously affecting the quality of life of patients.Patients can cure this sequela to a certain extent through rehabilitation training in a timely manner.Using rehabilitation robot for rehabilitation training can achieve rehabilitation of patients’ injured limbs and solve the problem of shortage of human resources and uneven treatment level of rehabilitation physicians.Even so,patients’ loss of confidence and initiative in boring repetitive traction exercise led to poor or even ineffective rehabilitation training.According to the latest research in rehabilitation medicine,patients’ "active movement intention" and "complete neural circuit stimulation" can significantly improve the effect of rehabilitation training.Because the virtual reality technology has immersion,interactivity,imaginative features,the virtual reality technology and the organic combination of upper limb rehabilitation robot system and used for rehabilitation training,can arouse the patient’s subjective intent,provide complete circuits,thus make positive response to reshape the brain medical theory,makes more rehabilitation effect of rehabilitation training.Based on the above background,this paper carried out the upper limb rehabilitation robot subsystem based on virtual reality technology development work,specific work is as follows:first of all,according to the theory of rehabilitation medicine design "0","1","eight" and "mirror" demonstration four rehabilitation training mode,and upper limbs rehabilitation robot interaction pattern of damping of the moving machine,designed to "sea"for the scene,called "small fish eat pearl" of virtual reality rehabilitation body feeling game,patients with the rehabilitation training program emphasizes the function and elbow flexion and extension and outreach/shoulder flexion and adduction movement coordination,and according to the difficulty,patterns,there are four divided into training mode.Secondly,the design and drawing of individual elements in the scene were completed in 3ds Max,and then the individual element model was loaded into unity3D to render and build the whole virtual reality scene.Then,through the development of kinect motion sensor,human-machine interaction between patients and the virtual reality scene built by unity3D was realized to verify the effectiveness of event guidance and event trigger in the virtual reality scene,and the software part of the active interactive virtual training system for the upper limb rehabilitation robot was developed.Then,based on the experimental platform of upper limb rehabilitation robot established in the laboratory,the virtual reality scene was adjusted to realize the interaction between human and upper limb rehabilitation robot and the interaction between human and virtual reality scene under the condition of wearing robot.The experiment verified the effectiveness of the upper limb rehabilitation training subsystem in this paper.Finally,a motion sensing coordinate extraction method based on object detection technology was proposed.The scene was built based on this method and the experiment proved that the improved subsystem was effective.This method also provided more feasibility for the subsequent virtual reality scene construction technology and subject research.