VR-based active rehabilitation system for upper limbs

In this paper, VR-based novel rehabilitation system has been developed to help mild stroke patients to recover their motor function of upper limbs. The system consists of haptic device (PHANTOM Omni), an advanced inertial sensor (MTx) and a computer. Our intention is to facilitate patients’ cortical plasticity according to observing virtual object correlated with self-generated intended action. Subject engages in task-oriented interactions with virtual object with his eyes looking at computer’s screen. In this paper, we suppose one of the subject’s hands is intact, the other is injured. Subject wears a glove installed inertial sensor on the intact hand, and manipulates stylus of haptic device with the injured hand. A feasible force model has been created and force can be exerted on the stylus. Subject need overcome impedance in force filed and coordinate his two hands to accomplish the task. The remotion of injured hand can be assisted through rotating the inertial sensor around some direction when assistance is needed.