{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,23]],"date-time":"2026-10-23T20:35:32Z","timestamp":1792787732472,"version":"4.5.0"},"reference-count":27,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T00:00:00Z","timestamp":1747267200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"the Fundamental Scientific Research Funds for Zhejiang Province","award":["2022YW43"],"award-info":[{"award-number":["2022YW43"]}]},{"name":"the National Natural Science Foundation of China","award":["52205037"],"award-info":[{"award-number":["52205037"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"crossref"}]},{"name":"the National Natural Science Foundation of China","award":["52475544"],"award-info":[{"award-number":["52475544"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"crossref"}]},{"name":"he 2023 Virtual Simulation Experimental Teaching Course of China Jiliang University","award":["XN202301"],"award-info":[{"award-number":["XN202301"]}],"id":[{"id":"https:\/\/ror.org\/05v1y0t93","id-type":"ROR","asserted-by":"crossref"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Technology and Health Care"],"published-print":{"date-parts":[[2025,9]]},"abstract":"<jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>In recent years, the large-scale epidemics and the increasing demand for rehabilitation generated a demand for remote rehabilitation, while digital twin provided technical support for home-based rehabilitation.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Objective<\/jats:title>\n                    <jats:p>In order to monitor the operation status of rehabilitation robot and make dynamic adjustments, a virtual-real interaction system for an ankle rehabilitation robot (VRIS-ARR) is designed based on the digital twin theory, and its virtual-real interaction characteristics is researched.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>The VRIS-ARR is consisted of physical layer, communication layer, virtual layer and application layer, and is designed by the application of software tools such as 3ds Max, Unity 3D, C#, Python. The database technology and multi-threaded development method are applied to realize the virtual-real interaction function of the system.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The performance and function experiments of the VRIS-ARR are carried out, and the system has the characteristics of strong virtual-real interaction, which can work smoothly with high control accuracy and without obvious delay.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>The experimental results indicate that the developed VRIS-ARR is very reliable between the ankle rehabilitation robot and the host computer.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1177\/09287329251337237","type":"journal-article","created":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T03:15:17Z","timestamp":1747278917000},"page":"2279-2304","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["The virtual-real interaction system design and interaction characteristics research of an ankle rehabilitation robot based on digital twin"],"prefix":"10.1177","volume":"33","author":[{"given":"Shenglong","family":"Xie","sequence":"first","affiliation":[{"name":"School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mengxiang","family":"Zhan","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuntang","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fengguo","family":"Xi","sequence":"additional","affiliation":[{"name":"Zhejiang Sanxin Mechanical &amp; Electronic Engineering Co. 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