用于坐站康复任务的外骨骼介导的人际物理交互
Exoskeleton-Mediated Physical Human-Human Interaction for a Sit-to-Stand Rehabilitation Task
AI总结：
针对中风患者坐站康复中治疗师体力负担大、辅助设备限制患者参与的问题，提出用两台下肢外骨骼介导医患物理交互，可传递实时反馈、辅助动作、保障平衡，还介绍了框架架构与设计技术选择。
摘要：
坐站（Sit-to-Stand, StS）是一项基础日常活动，中风幸存者因下肢力量、运动控制和本体感觉缺陷，完成该动作可能存在困难。现有疗法包含重复性坐站训练，但这类训练对治疗师的体力要求较高，而辅助设备可能会限制患者的参与度、阻碍运动学习。为应对这些挑战，本研究提出在坐站康复任务中，使用两台下肢外骨骼来介导治疗师与患者之间的物理交互。该方法具备多项优势，包括改善治疗师与患者的交互、保障安全性以及量化训练表现。两台外骨骼的全身控制可在两名使用者之间传递实时反馈，同时辅助动作完成并确保平衡，从而为障碍程度更重的受试者提供帮助。本研究介绍了该框架的架构，并展示、讨论了设计过程中做出的若干技术选择。
英文摘要：
Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these can be physically demanding for therapists while assistive devices may limit patient participation and hinder motor learning. To address these challenges, this work proposes the use of two lower-limb exoskeletons to mediate physical interaction between therapists and patients during a StS rehabilitative task. This approach offers several advantages, including improved therapist-patient interaction, safety enforcement, and performance quantification. The whole body control of the two exoskeletons transmits online feedback between the two users, but at the same time assists in movement and ensures balance, and thus helping subjects with greater difficulty. In this study we present the architecture of the framework, presenting and discussing some technical choices made in the design.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
