治疗师-机器人-患者物理互动值得千言万语：通过远程触觉控制实现直观的治疗师指导
Therapist-Robot-Patient Physical Interaction is Worth a Thousand Words: Enabling Intuitive Therapist Guidance via Remote Haptic Control
AI总结：
本文提出了一种通过远程触觉控制实现直观治疗师指导的系统，通过实验表明触觉演示能有效提升运动训练效率并减少治疗师负担。
摘要：
机器人系统可以增强物理引导运动训练的量和重复性。然而，其在现实中的应用受到限制，部分原因是治疗师与受试者之间的互动不够直观。为解决这一差距，我们提出了一种触觉远程操作系统，使治疗师能够通过商业手持触觉设备，通过虚拟接触点在外骨骼的肘部和腕部与佩戴外骨骼的受试者进行物理互动，从而实现直观的指导。32名参与者在治疗师-受试者模式中测试了该系统，将我们的触觉演示系统与传统视觉演示进行比较，以指导受试者执行手臂姿势。定量分析显示，触觉演示显著减少了运动完成时间并提高了流畅性，而使用大型语言模型进行自动转录和分类的语音分析显示了更少的口头指令。触觉演示并未导致治疗师报告的思维和体力消耗比视觉演示更高，而治疗师报告了更高的能力，受试者报告了更低的体力需求。这些发现支持了我们提出接口的有效性，用于有效的远程人机物理互动。未来的工作应评估其对临床人群在恢复临床人员代理感方面的可行性和有效性。
英文摘要：
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we present a haptic teleoperation system for trainers to remotely guide and monitor the movements of a trainee wearing an arm exoskeleton. The trainer can physically interact with the exoskeleton through a commercial handheld haptic device via virtual contact points at the exoskeleton's elbow and wrist, allowing intuitive guidance. Thirty-two participants tested the system in a trainer-trainee paradigm, comparing our haptic demonstration system with conventional visual demonstration in guiding trainees in executing arm poses. Quantitative analyses showed that haptic demonstration significantly reduced movement completion time and improved smoothness, while speech analysis using large language models for automated transcription and categorization of verbal commands revealed fewer verbal instructions. The haptic demonstration did not result in higher reported mental and physical effort by trainers compared to the visual demonstration, while trainers reported greater competence and trainees lower physical demand. These findings support the feasibility of our proposed interface for effective remote human-robot physical interaction. Future work should assess its usability and efficacy for clinical populations in restoring clinicians' sense of agency during robot-assisted therapy.
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。
