基于双模式个性化外骨骼机器人的上肢康复：一种生成式模型解决方案
Upper-Limb Rehabilitation with a Dual-Mode Individualized Exoskeleton Robot: A Generative-Model-Based Solution
AI总结：
本文提出一种基于生成式模型的双模式个性化上肢外骨骼机器人，通过在线生成定制化运动轨迹，在主动镜像和被动跟随两种模式下为不同运动能力的脑卒中患者提供个性化康复辅助，并在健康受试者和患者实验中验证了其性能。
摘要：
目前已有多款上肢外骨骼机器人被开发用于脑卒中康复，但其个性化辅助水平普遍较低，通常限制了其有效性和实用性。个性化辅助要求上肢外骨骼机器人持续评估脑卒中患者的反馈，并精细调整交互力以适应具体状况和在线变化。本文介绍了一款新型上肢外骨骼机器人的开发，该机器人具备新颖的在线生成能力，能够为脑卒中患者的康复训练提供个性化辅助。具体而言，该上肢外骨骼机器人利用生成式模型为患者定制精细且贴合的运动轨迹，因为在训练过程中不同患者的医疗状况、反应和舒适度反馈通常存在差异。该生成能力被集成到上肢外骨骼机器人的两种工作模式中：主动镜像模式，适用于身体一侧仍保留运动能力的患者；被动跟随模式，适用于身体两侧均丧失运动能力的患者。该上肢外骨骼机器人的性能在涉及健康受试者和脑卒中患者的实验中得到了验证。
英文摘要：
Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an upper-limb exoskeleton robot continuously assessing feedback from a stroke patient and then meticulously adjusting interaction forces to suit specific conditions and online changes. This paper describes the development of a new upper-limb exoskeleton robot with a novel online generative capability that allows it to provide individualized assistance to support the rehabilitation training of stroke patients. Specifically, the upper-limb exoskeleton robot exploits generative models to customize the fine and fit trajectory for the patient, as medical conditions, responses, and comfort feedback during training generally differ between patients. This generative capability is integrated into the two working modes of the upper-limb exoskeleton robot: an active mirroring mode for patients who retain motor abilities on one side of the body and a passive following mode for patients who lack motor ability on both sides of the body. The performance of the upper-limb exoskeleton robot was illustrated in experiments involving healthy subjects and stroke patients.
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。
