In this paper, the feasible scheme is proposed to do visual operation and to interact with dynamic system in the 3D virtual reality environment by VR toolbox of MATLAB. Using V-realm Builder toolbox to build 3D virtual model for 5dof upper-limb rehabilitation robot, then it simulates this model in the 3D virtual scene of MATLAB and observes the simulation state of dynamic system in the virtual reality environment through simulink interface. The simulation results show that the virtual-reality system of 5dof upper-limb rehabilitation robot runs well and can emulate the features of real rehabilitation robot, laying a solid foundation for rehabilitation evaluation system and telemedicine.

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