Research on virtual reality based on RRR-I

This paper presents a kind of upper-limb rehabilitation robot named RRR-I (Remote Rehabilitation Robot-I). The RRR-I mainly applies a resistance force to the patient's hand in order to train the patient's upper-limb. The angle coordinates obtained from the absolute encoder are eventually connected with the position coordinates in the virtual reality. And a new virtual 3D game is designed so that it could be applied to the rehabilitation training. Specially, a novel improved variance method (IVM) is presented to appropriately process the data got from the game. And then the Analytic Hierarchy Process (AHP) method is used to perfect every parameter. Finally, experiments on the RRR-I are made to prove the techniques and methods are useful and efficient.