# A Construction Method of Lower Limb Rehabilitation Robot with Remote Control System
## 2 Materials and Methods
### Telerehabilitation Interactive System
#### 2.2.3 Design of Robot Remote System  
By turning on the robot's remote system and getting it connected to the Internet, the doctor server computer can communicate with the rehabilitation robot computer, watch the data changes of the equipment in real-time, and read the rehabilitation data in the local database. Doctors can evaluate the patient's condition and formulate a rehabilitation plan based on the patient's rehabilitation records in the database. This enables the doctor to make appropriate modifications to the patient's rehabilitation training plan. The doctor also adjusts the training parameters of the rehabilitation robot through the server computer and formulates a new rehabilitation training program. The rehabilitation robot performs a new stage of rehabilitation auxiliary treatment for patients based on the new rehabilitation training program. The rehabilitation data is then shared between the client-side of the  
Figure 6: Hardware system framework of the rehabilitation robot. Figure 7: Hardware and sensing systems of the rehabilitation robots. rehabilitation robot and the doctor's server-side computer. Such information includes the patient's personal information and the robot's auxiliary rehabilitation parameters. The remote system operating process is shown in Figure 8.  
The interactive interface of the rehabilitation robot is designed by LABVIEW software. (LABVIEW was developed by National Instruments Corporation, headquartered in Austin, TX, USA). The development interface consists of a front panel and a rear panel. The front panel includes a digital control, and a digital display. The interface information includes the robot's operating status and various rehabilitation parameters, the patient's personal information, remote real-time video images, and the movement data change curve during the patient's rehabilitation. The back panel is a graphical representation of the control commands that implement the program structure and define the control logic. The feedback data from the robot sensors is filtered and noise-reduced in the control core MCU. This data is then converted to digital signals for direct display on the front panel of the interactive interface. The communication module allows the client computer system of the rehabilitation robot to establish data transfer with the rehabilitation robot and realizes wireless data transmission through the WIFI module of the MCU. We further note that medical data requires a high level of data integrity and security. Audio and video data are used as auxiliary monitoring data, which has high requirements for the smoothness of the call. The remote system uses the TCP protocol to access the control system software as the. The rehabilitation robot also uses socket technology to realize the remote transmission of patient training data. The remote system uses an IP camera to transfer the patient training images from the rehabilitation robot to the doctor server. Doctors can remotely observe the rehabilitation process of patients at the rehabilitation training site. The IP camera is a camera that combines a traditional camera and network technology. It transmits the video to the doctor's server computer through the Internet. The doctor supervises the on-site rehabilitation training through the computer control system software. The interface of the rehabilitation robot remote control system is illustrated in Figure 9.  
After the control system function panel is built, it is necessary to compile the acquisition program for the displacement and tension sensors. The tension sensor collects the tension signal generated by the patient to ensure the accuracy of the force control. The displacement sensor also collects the patient's movement posture signal to ensure the robot responds to the movement. The displacement sensor then converts the linear mechanical displacement into an electrical signal to realize counting. Note that there is a corresponding proportional relationship between the two.