Rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategy
Abstract Virtual reality (VR) technology revitalises rehabilitation training by creating rich, interactive virtual rehabilitation scenes and tasks that deeply engage patients. Robotics with immersive VR environments have the potential to significantly enhance the sense of immersion for patients duri...
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| Format: | Article |
| Language: | English |
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Wiley
2025-06-01
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| Series: | CAAI Transactions on Intelligence Technology |
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| Online Access: | https://doi.org/10.1049/cit2.12391 |
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| _version_ | 1849473062850789376 |
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| author | Yongsheng Gao Guodong Lang Chenxiao Zhang Rui Wu Yanhe Zhu Yu Zhao Jie Zhao |
| author_facet | Yongsheng Gao Guodong Lang Chenxiao Zhang Rui Wu Yanhe Zhu Yu Zhao Jie Zhao |
| author_sort | Yongsheng Gao |
| collection | DOAJ |
| description | Abstract Virtual reality (VR) technology revitalises rehabilitation training by creating rich, interactive virtual rehabilitation scenes and tasks that deeply engage patients. Robotics with immersive VR environments have the potential to significantly enhance the sense of immersion for patients during training. This paper proposes a rehabilitation robot system. The system integrates a VR environment, the exoskeleton entity, and research on rehabilitation assessment metrics derived from surface electromyographic signal (sEMG). Employing more realistic and engaging virtual stimuli, this method guides patients to actively participate, thereby enhancing the effectiveness of neural connection reconstruction—an essential aspect of rehabilitation. Furthermore, this study introduces a muscle activation model that merges linear and non‐linear states of muscle, avoiding the impact of non‐linear shape factors on model accuracy present in traditional models. A muscle strength assessment model based on optimised generalised regression (WOA‐GRNN) is also proposed, with a root mean square error of 0.017,347 and a mean absolute percentage error of 1.2461%, serving as critical assessment indicators for the effectiveness of rehabilitation. Finally, the system is preliminarily applied in human movement experiments, validating the practicality and potential effectiveness of VR‐centred rehabilitation strategies in medical recovery. |
| format | Article |
| id | doaj-art-ef90813d20c540e9af8b0510bc58f34f |
| institution | Kabale University |
| issn | 2468-2322 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | CAAI Transactions on Intelligence Technology |
| spelling | doaj-art-ef90813d20c540e9af8b0510bc58f34f2025-08-20T03:24:17ZengWileyCAAI Transactions on Intelligence Technology2468-23222025-06-0110372873710.1049/cit2.12391Rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategyYongsheng Gao0Guodong Lang1Chenxiao Zhang2Rui Wu3Yanhe Zhu4Yu Zhao5Jie Zhao6State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin ChinaState Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin ChinaState Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin ChinaLearning Algorithms and Systems Laboratory School of Engineering École Polytechnique Fédérale de Lausanne Lausanne SwitzerlandState Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin ChinaDepartment of Orthopaedic Surgery Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing ChinaState Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin ChinaAbstract Virtual reality (VR) technology revitalises rehabilitation training by creating rich, interactive virtual rehabilitation scenes and tasks that deeply engage patients. Robotics with immersive VR environments have the potential to significantly enhance the sense of immersion for patients during training. This paper proposes a rehabilitation robot system. The system integrates a VR environment, the exoskeleton entity, and research on rehabilitation assessment metrics derived from surface electromyographic signal (sEMG). Employing more realistic and engaging virtual stimuli, this method guides patients to actively participate, thereby enhancing the effectiveness of neural connection reconstruction—an essential aspect of rehabilitation. Furthermore, this study introduces a muscle activation model that merges linear and non‐linear states of muscle, avoiding the impact of non‐linear shape factors on model accuracy present in traditional models. A muscle strength assessment model based on optimised generalised regression (WOA‐GRNN) is also proposed, with a root mean square error of 0.017,347 and a mean absolute percentage error of 1.2461%, serving as critical assessment indicators for the effectiveness of rehabilitation. Finally, the system is preliminarily applied in human movement experiments, validating the practicality and potential effectiveness of VR‐centred rehabilitation strategies in medical recovery.https://doi.org/10.1049/cit2.12391assessment modelhuman‐robot interactionmuscle strength assessment modelrehabilitation trainingvirtual realitywearable robot |
| spellingShingle | Yongsheng Gao Guodong Lang Chenxiao Zhang Rui Wu Yanhe Zhu Yu Zhao Jie Zhao Rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategy CAAI Transactions on Intelligence Technology assessment model human‐robot interaction muscle strength assessment model rehabilitation training virtual reality wearable robot |
| title | Rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategy |
| title_full | Rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategy |
| title_fullStr | Rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategy |
| title_full_unstemmed | Rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategy |
| title_short | Rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategy |
| title_sort | rehabilitation exoskeleton system with bidirectional virtual reality feedback training strategy |
| topic | assessment model human‐robot interaction muscle strength assessment model rehabilitation training virtual reality wearable robot |
| url | https://doi.org/10.1049/cit2.12391 |
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