$\mathbb{R}^3 \times \mathit{S}^3$ 空间中具有在线技能迁移与自适应的远程康复
Tele-rehabilitation with online skill transfer and adaptation in $\mathbb{R}^3 \times \mathit{S}^3$
AI总结：
提出一种基于双边遥操作和6自由度动态运动原语的远程康复框架，在三维平移加旋转空间中实现治疗师动作的在线迁移与自适应，实验验证了可行性。
摘要：
本文提出了一种面向机器人辅助远程康复领域的远程示教框架。该系统通过双边遥操作连接治疗师侧和患者侧的两个机器人机械臂，使治疗师能够远程演示康复训练动作，并由患者侧机器人执行这些动作。采用6自由度动态运动原语公式，在 $\mathbb{R}^3 \times \mathit{S}^3$ 空间中联合编码平移和旋转运动，确保轨迹的准确复现。该框架支持治疗师引导与患者被动训练之间的平滑过渡，同时允许对运动进行自适应调整。使用7自由度机械臂进行的实验证明了该方法的可行性，凸显了其在个性化及远程监督康复中的应用潜力。
英文摘要：
This paper proposes a tele-teaching framework for the domain of robot-assisted tele-rehabilitation. The system connects two robotic manipulators on therapist and patient side via bilateral teleoperation, enabling a therapist to remotely demonstrate rehabilitation exercises that are executed by the patient-side robot. A 6-DoF Dynamical Movement Primitives formulation is employed to jointly encode translational and rotational motions in $\mathbb{R}^3 \times \mathit{S}^3$ space, ensuring accurate trajectory reproduction. The framework supports smooth transitions between therapist-led guidance and patient passive training, while allowing adaptive adjustment of motion. Experiments with 7-DoF manipulators demonstrate the feasibility of the approach, highlighting its potential for personalized and remotely supervised rehabilitation.
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。
