# A Construction Method of Lower Limb Rehabilitation Robot with Remote Control System
## 3 Results
### Experimental Research of Rehabilitation Robot Control
#### 3.1.2 Experiment of Rehabilitation Training Data Acquisition  
In telerehabilitation, video communication is an important tool for effective communication between the doctors and the patients. The system uses a USB camera to collect video data. Before video acquisition, the channel number of the camera needs to be set. The video communication window is shown in Figure 17.  
In the exercise data acquisition experiment of the rehabilitation robot, a volunteer with a height of 168 cm and a weight of 55 kg was selected to participate. During the experiment, the volunteer wore weight-support clothing. The weight support values on the left and right sides of the volunteer's body were set to 17-18 kg and 18-19 kg, respectively. This was to ensure that the volunteer's body is in an approximately balanced state. The robot motion speed mode was set to low-speed mode, and the control mode was set to free motion mode. There is no need to manually control the motion of the robot, and the system collects the change curve of the volunteer's BWS value and the posture change curve during the rehabilitation training. The experiment mainly tested four types of rehabilitation in rehabilitation training, including walking in a straight line, turning left on the spot, turning right on the spot, and standing in the original squat. The robot recognizes the changes in the patient's body posture and BWS value in the free motion mode according to the sensor data. The experimental site is shown in Figure 18a,b. Figure 16: File export diagram of patient data. Figure 17: Video communication acquisition test of the remote system. problem, and the robot produced a turning stop and direction swing. Correspondingly, there was a large increase in the left displacement curve within 10-50 s, and then it returned to the fluctuation range. The displacement curve on the right has a significant decrease, and then it returns to the maximum range. The body posture corresponding to the right turning is the right shoulder back and the left shoulder forward. It can be further seen from the displacement data curve in Figure 21b that the value of the left displacement curve is always at the maximum state during the whole turning process. The value of the displacement curve on the right fluctuates in a larger range within the interval of 15-70 mm. During the experiment, when turning, the volunteers moved slowly and discontinuously. Every time the body turned one angle, they made a very short pause, and the right slider would slide to the initial position. Therefore, the displacement curve on the right fluctuates in a larger interval. This confirms that the human-computer interaction system can correctly recognize the movement posture information of the human body and feed it back to the system interface through the data curve. In this experiment, the BWS value is constant, and the BWS values on the left and right sides are in the range of 17-18 kg and 18-19 kg, respectively. It can be seen from Figure 20a that the average value of the left side BWS when turning left is about 17.53 kg. The average BWS value on the right is about 18.58 kg. It can be also seen from Figure 21a that the average value of the right side BWS while turning right is about 18.91 kg. The average BWS value on the left is about 17.44 kg. For the BWS value of the same side of the body when turning left and right. Therefore, it can be seen that the BWS value of the  
Figure 21: (**a**) Force curve of in situ right steering; (**b**) displacement curve of in situ right steering. Figure 20: (**a**) Force curve of in situ left steering; (**b**) displacement curve of in situ left steering. turning side of the body is increased. Although the amount of change is small, the human body posture information can be recognized by the change of the force value. The original squat and stand-up action are a relatively regular posture.