VirtualR3

Virtual Reality in Robotic movements assistance for Rehabilitation

Project details

Acronym: VirtualR3

Start date: 01-01-2024

End date: 31-03-2025

Budget: 397,150.00 €

Call: FSTP EMIL Call 2 – HORIZON-CL4-2021-HUMAN-01

Funding body: European Union (100%)

Project webpage: https://emil-xr.eu/funded-projects/uv-virtualr3/

Project granted under a competitive call.

Participants

Efficient and Digital Engineering (EN.EDI) is a research group at the University of Vigo (UVigo), Spain. The group members have extensive experience in research on mechatronic systems, parallel robotics (Delta, Stewart platform, and CDPR), and industrial software (such as digital twins, simulation, and virtual environments). The group also has a strong scientific track record and a remarkable prototyping capacity, demonstrated throughout previous projects.

Description

VirtualR3 es un entorno de rehabilitación robótica y realidad virtual en el que los pacientes son asistidos y movidos por un CDPR (robot paralelo accionado por cable). Los impulsos de los pacientes generan la intención de movimiento, que luego es utilizada por el robot para seguirlos y ayudarlos. Cada paciente también experimentará el movimiento en diferentes escenarios de forma inmersiva a través de un dispositivo de visión (gafas). Mediante una aplicación de supervisión médica, los terapeutas podrán modificar las fuerzas del robot, los impulsos y los escenarios virtuales.

Application scenarios

They develop different application scenarios combining cable-driven parallel robotics, haptic control, and virtual/mixed reality, adapted to the level of interaction and autonomy of each patient:

• Scenario 1: The patient generates movement commands (advance, stop, turn) through their body forces. These commands are captured using load cells. The system supervises, ensures exercise safety, and adjusts resistance. Aimed at patients with greater autonomy.
• Scenario 2: The system generates the commands and the patient responds. The system regulates assistance according to the effort made. Designed for patients who require a high level of movement support.
• Scenario 3: The system executes the movements while the patient remains passive, experiencing the immersive sensation of movement. Targeted at patients with very limited mobility.

In all scenarios, Virtual and Mixed Reality motivate and guide the patient through the exercises, enhancing immersion, enabling medical supervision, and allowing the performance of spatial 3D movements, including displacements and turns.

Objectives

The main objective of the project is to develop a TLR 8 rehabilitation system for the lower limbs, based on cable-driven parallel robotics, integrated with immersive virtual reality scenarios and body haptic control, enabling the design of safe, adaptive, and cost-effective therapies to improve patient mobility.

More specifically, the following specific objectives (SO) are established:

• SO1: Define baseline exercises with CDPR and VR/MR scenes.
• SO2: Define the therapeutic interaction with Virtual3R.
• SO3: Integrate body haptic commands (from CDPR feedback) with VR scenes in the TLR8 solution.
  • SO3.1: Identify 3D movement intentions.
  • SO3.2: Generate proportional 3D movement assistance in response.
  • SO3.3: Integrate Virtual Reality scenes.
• SO4: Design a 3D CDPR-based movement assistance solution reaching TLR-8.
  • SO4.1: Design in compliance with safety regulations and interaction requirements.
  • SO4.2: Define additional commands for a safer and more immersive experience.

Videos

This project is funded by the EMIL project financial support to third parties, which is funded by the European Union. Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union. Neither the European Union nor the granting authority can be held responsible for them.