The virtual-real interaction system design and interaction characteristics research of an ankle rehabilitation robot
Shenglong Xie1, Mengxiang Zhan1, Yuntang Li1
1School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang, China.
Abstract:
BackgroundIn recent years, the large-scale epidemics and the increasing demand for rehabilitation generated a demand for remote rehabilitation, while digital twin provided technical support for home-based rehabilitation.ObjectiveIn order to monitor the operation status of rehabilitation robot and make dynamic adjustments, a virtual-real interaction system for an ankle rehabilitation robot (VRIS-ARR) is designed based on the digital twin theory, and its virtual-real interaction characteristics is researched.MethodsThe VRIS-ARR is consisted of physical layer, communication layer, virtual layer and application layer, and is designed by the application of software tools such as 3ds Max, Unity 3D, C#, Python. The database technology and multi-threaded development method are applied to realize the virtual-real interaction function of the system.ResultsThe performance and function experiments of the VRIS-ARR are carried out, and the system has the characteristics of strong virtual-real interaction, which can work smoothly with high control accuracy and without obvious delay.ConclusionThe experimental results indicate that the developed VRIS-ARR is very reliable between the ankle rehabilitation robot and the host computer.
