Research On Multifunctional Upper Limb Rehabilitation System Based On Virtual Reality And Tactile Perception

As China is gradually entering an aging society,the number of hemiplegic patients caused by diseases such as cardiovascular or nervous system is increasing year by year.Stroke not only seriously affects the physical and mental health of the patients,but also brings a heavy burden to the society.Based on the 6-DOF upper limb rehabilitation robot independently designed by the laboratory,this paper developed a multi-functional upper limb rehabilitation training system based on virtual reality and tactile perception by combining virtual reality technology and tactile sensing technology.The main research work of the thesis was reflected in the following aspects:Firstly,this paper studied the passive rehabilitation training subsystem based on virtual reality.With the help of virtual reality technology,the three-dimensional model of virtual human body and virtual rehabilitation robot were constructed.Based on this,a virtual rehabilitation training scene that could simulate the state of patient rehabilitation training in real time was built.Besides,this paper used Unity 3D as the driving engine of virtual training scene,and studied the real-time motion control method of virtual rehabilitation robot based on this engine.In addition,this paper also carried out passive rehabilitation training experiments through the "upper limb D1 flexion"mode in PNF therapy,which effectively verified the synchronization of the virtual rehabilitation training scene and the actual rehabilitation training of patients.Secondly,this paper studied the active rehabilitation training subsystem based on virtual reality and tactile perception.In order to obtain the patient's motion intention,this paper designed a flexible array pressure sensor signal collector which could acquire the interaction force between human and machine.At the same time,this paper also designed two rehabilitation games for active rehabilitation through virtual reality technology,and realized the interaction between the patient and the rehabilitation game by combing with the collected force information.Finally,on the basis of the above two subsystems that had been completed,it was considered that the system should have other auxiliary functions such as rehabilitation training data storage and doctor management in the actual application process.Therefore,this paper used MFC and Microsoft SQL Server database to integrate the above functions systematically and developed a multi-functional upper limb rehabilitation training system which included system login,doctor management,patient management,passive rehabilitation training,active rehabilitation training,rehabilitation assessment and patient information inquiry.