# A Construction Method of Lower Limb Rehabilitation Robot with Remote Control System
## 3 Results  
### Experimental Research of Rehabilitation Robot Control  
#### 3.1.1 Experiments of Robot Telecommunication  
The rehabilitation robot control system is a multi-variable and multi-level system. The rehabilitation robot body and remote control systems require high performance to ensure the accuracy of control. To verify whether the rehabilitation robot remote control system meets the design requirements, we test the control system hardware and software. The remote communication experiment verifies the accuracy of data communication in the remote system and further confirms the stability of the system during the communication process. The test items include the robot state logic test, robot rehabilitation parameter setting test, patient and robot information management test. A test platform for the rehabilitation robot body system and remote control system was built. The rehabilitation robot test platform is composed of the rehabilitation robot body and a computer. The remote doctor's terminal operating platform is a computer connected to the Internet. The experimental platform for the rehabilitation robot end system and the doctor end remote system control platform are presented in Figure 11a,b. We turned on the control system software of the rehabilitation robot and the electrical system of the robot body. The robot then established a data communication link between the computer of the rehabilitation robot and the robot body system. The successful interface of the client computer of the rehabilitation robot is shown in Figure 12. The green indicator of the robot status in the control system software interface indicates the client is successfully connected to the robot body, and the rehabilitation robot has completed the initialization of various rehabilitation parameters. We then adjusted the state logic of the rehabilitation  
Figure 10: The rear panel of displacement and tension sensor. Figure 9: Remote control system interface for rehabilitation robot. robot through the control system software or the robot operating handle. The state of the robot is indicated by the indicator light on the software interface. During the experiment, the speed mode and BWS value of the robot were adjusted by the handle. The status of the robot speed mode indicator on the software interface and the force value were changed accordingly, which verified the robot's state logic reached the predetermined requirements. The robot state logic test is shown in Figure 13a,b. Figure 11: (**a**) The experimental platform of rehabilitation robotic systems; (**b**) control platform of the doctor-side remote system. Figure 12: Communication success diagram of the rehabilitation robot client computer. Figure 13: (**a**) Logic 1 state of the robot; (**b**) logic 2 state of the robot. The doctor server computer and the rehabilitation robot client computer are connected through the Internet. The successful remote connection interface of the doctor server computer is shown in Figure 14. If the robot status indicator in the software system interface is green, then the doctor's and the rehabilitation robot's client computer successfully establish data communication links. The computer communication experiment between the rehabilitation robot client and the doctor verifies that the system realizes remote data transmission and feedback. The doctor enters the patient's basic information and robot operating parameters through the rehabilitation robot computer. The basic information setting dialog box is shown in Figure 15. The remote doctor's computer receives various rehabilitation data of the patient through the patient's ID number. The doctor adjusts the operating parameters of the rehabilitation robot according to the patient's current state and transmits them to the rehabilitation robot client through the network. The robot client receives the latest operating parameters and revises the patient's rehabilitation training.