# Development of a Virtual Reality-Based Environment for Telerehabilitation
###### Abstract  
The paper presents an innovative virtual reality (VR)-based environment for personalized telerehabilitation programs. This environment integrates a parallel robotic structure designed for the lower limb rehabilitation of patients with neuromotor disabilities and a virtual patient. The robotic structure is controlled via a user interface (UI) that communicates with the VR environment via the TCP/IP protocol. The robotic structure can also be operated using two controllers that communicate with a VR headset via the Bluetooth protocol. Through these two controllers, the therapist demonstrates to the patient various exercises that the robotic system can perform. With the right-hand controller, the therapist guides exercises for the hip and knee, while the left-hand controller manages ankle exercises. The therapist remotely designs a rehabilitation plan for patients at home, defining exercises, interacting with the rehabilitation robot in real-time via the VR headset and the two controllers, and initiating therapy sessions. The user interface allows monitoring of patient progress through video feedback, electromyography (EMG) sensors, and session recording. virtual reality; parallel robotic structure; rehabilitation robotic system; user interface; control; rehabilitation exercises 202  
stroke, the person's overall health, and the rehabilitation therapy received. Physical and occupational therapy are often key components of the rehabilitation plan, helping patients regain strength, coordination, and independence [6; 7; 8]. There are a variety of physiotherapeutic rehabilitation systems specifically designed for people with different neuro-motor disorders. These systems also support applications in the field of telerehabilitation, thus enabling patients to benefit from treatment from home, which expands therapy access and can improve patients' quality of life [9]. In [10], the authors present the development of a control system for a parallel robot designed for lower limb rehabilitation of stroke survivors. In [11], the authors conducted an in-depth study of various telerehabilitation systems, concluding that VR-based telerehabilitation offers an effective alternative for treating stroke patients. This option becomes especially valuable given the limitations of traditional rehabilitation methods. [PERSON] et al. introduced two innovative methods for manipulating a Stewart-Gough platform-based walking simulator. The first method allows therapists to directly control each platform using movement data collected from wearable sensors. The second method is designed to increase patient engagement by providing limited control based on trunk tilt. Experiments have shown that both control interfaces are feasible in terms of system performance and subjective user feedback [12]. In [13], the authors developed a VR-based simulator for a robotic system designed for ankle rehabilitation (the drop-foot syndrome) of stroke patients. In [14], the authors proposed an innovative research model that combines the unified theory of technology acceptance and use with protective motivation theory to identify the factors influencing the adoption of VR in telerehabilitation. In [15], the author reviewed studies evaluating the combined effects of robotic systems and VR lower limb functions post-stroke, offering recommendations for future research in rehabilitation. In [16], the authors analyzed the benefits of a master-slave robotic rehabilitation therapy, where the patient receives real-time assistance from a therapist. In addition, they also investigated whether this approach can be effectively implemented in a telerehabilitation context. A pilot study involving 10 patients was conducted to test this method. The study involved a point-to-point rehabilitation exercise that was supported by three types of assistance: fixed assistance (with no therapist interaction), assistance provided by a physically present therapist, and assistance from a remote therapist in a simulated telerehabilitation environment.