Unity3D Based Control Method for a Robotic Ground Walking Platform in a Virtual Reality Environment

摘要

Due to the increase in number of patients with significant gait deficits, the need for sophisticated tools to assist the patient to perform different kinds of locomotion training exercises is highly relevant. Ground walking platforms (GWP) are some of the new robotic gait rehabilitation systems that aim to simulate different ground trajectories for a patient (e.g. plane ground, hill...etc.) with different haptic materials (e.g. water, sand, ice,... etc.). The system targeted in this study aims for providing the user with simulated ground reaction forces based on the users movements in a virtual reality environment by deploying two 6 Degree of Freedoms robotic footplates. This paper presents a part of such control study that aims to simulate the behavior and the interaction of the user, the GWP, and the virtual reality implemented in Unity3D. Using real data, results show good detection of interaction between foot and different medium, while the simulation of the robot gives actual results concerning the properties of simulated medium.