Developing Virtual Reality Environments Integrated with Two Upper-Limb Exoskeletons for Motor Control Recovery of Stroke Patients

Integrating a robotic system with the human body and creating a single system promises to create new opportunities for disabled people. For most people with neuromuscular disorders and injuries to the central nervous system, the main cause for the disability is muscle weakness; therefore, using a robotic controller will aid with tasks that require great forces. The purpose of this study is to develop therapeutic virtual environments (VR) and to integrate them with a dual upper limb exoskeletons system. The VR environments are developed in C++ along with Computer Haptics & Active Interfaces 3D (Chai 3D), and Open Graphics Library (OpenGL). Chai 3D and OpenGL generate a 3D realistic environment. Using the exoskeleton the patient interacts with the VR environment s. force feedback are rendered and generate by the exoskeleton as the patient interacts with the virtual objects.   Preliminary studies indicated a significant motor control recovery of stroke patients following physical therapy with the two exoskeletons.