TA141-oriented rehabilitation training system can improve the efficiency of rehabilitation training for patients with hemiplegia. this paper presents rehabilitation training program for upper limbs based on HTC VIVE, the patient manipulate the controller, according to the mission requirements and touch the target point in the virtual environment to complete the training. By analyzing the human upper limb kinematics with Denavit-Hartenberg parameter method, it has established a 5-DOF model of human upper limb, and the work area of the upper limbs wrist was simulated and analyzed to ensure the training safety. The user study shows the system has promoted the patient's initiative for participating in rehabilitation training, the motion track records the movement of the limbs, and it meets the needs of rehabilitation training.
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