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Page 140 Tong et al. Intell Robot 2024;4:125-45 I http://dx.doi.org/10.20517/ir.2024.08

Figure 14. Gamification scenarios.

Figure 15. Virtual reality training 3D trajectory.

integration of robots does not necessarily address the drawbacks of prolonged and monotonous training cy-
cles in the rehabilitation process. This monotony can lead to reduced patient motivation, thereby affecting the
overall effectiveness of the training. The combination of virtual reality (VR) technology and robots offers a
promising solution to boost rehabilitation motivation [41] .

This paper presents the development of a wooden box placement game with visual feedback based on VR
technology. The game involves arranging the wooden boxes on a numerical wall in correspondence with
the numbers on each box. The rehabilitation robot operates in active training mode, allowing patients to
actively engage in rehabilitation by manipulating the robot. During this process, the robot control system
continuously reads the joint angles and performs real-time forward kinematics analysis to obtain the end-
effector position. This information is transmitted to the Unity client via TCP/IP communication, enabling
the mapping of the end-effector position of a robot onto the virtual hand model in the scene. The interactive
feature is realised by touching the boxes with the virtual hand, simulating the action of grabbing a box. Moving
the box to the designated numerical wall completes one placement action. This process is repeated for nine
boxes, constituting one interactive training session. The scene is illustrated in Figure 14.The 3D effect is shown
in Figure 15. The range of motion projection is depicted in Figure 16.