In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic Movement Primitives (DMPs), ensuring accurate posture-independent spatial generalisation across diverse patient anatomies. Crucially, we execute these trajectories through a decoupled hybrid control architecture that constructs a spatially compliant virtual tunnel, paired with an effort-based temporal dilation mechanism. This architecture is applied to three distinct rehabilitation modalities: Passive, Active-Assisted, and Active-Resistive, by dynamically linking the exercise's execution phase to the patient's tangential force contribution. To guarantee safety, a Gaussian Mixture Regression (GMR) model is learned on-the-fly from the patient's own limb. This allows the detection of abnormal interaction forces and, if necessary, reverses the trajectory to prevent injury. Experimental validation demonstrates the system's precision, achieving an average trajectory reproduction error of 3.7cm and a range of motion (ROM) error of 5.5 degrees. Furthermore, dynamic interaction trials confirm that the controller successfully enforces effort-based progression while maintaining strict spatial path adherence against human disturbances.
DRBA: Dynamic Robotic Balance Assistant -- An assist-as-needed gait and balance rehabilitation robot for versatile training
School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航天工程学院）；Guangdong Zhongxin Intelligent Rehabilitation Research Institute（广东众心智能康复研究院）；Guangdong Jianxiang Hospital Group（广东健翔医院集团）
Amrita School of Engineering, Coimbatore（阿姆里塔工程学院，哥印拜陀）；Amrita Vishwa Vidyapeetham（阿姆里塔大学）
Rehabilitation exercises are essential to ensure speedy recovery of stroke patients. An automated system to assist the patient in performing a rehabilitation exercise repeatedly is designed. The design process is presented in this report.
Centre for Advanced Robotics（高级机器人中心）；School of Engineering and Materials Science（工程与材料科学学院）；Queen Mary University of London（伦敦玛丽女王大学）
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a cheaper, and less time consuming manner than traditional methods. Hand exoskeletons are developed to assist rehabilitation, but their bulky nature brings with it certain challenges. As soft robots use elastomeric and fabric elements rather than heavy links, and operate with pneumatic, hydraulic or tendon based rather than traditional rotary or linear motors…
This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recruitment patterns depend on trajectory parameters of the AEMs and correlate with the efficiency of exercise. Thus, improvements to training efficiency may be achieved by optimizing these parameters. The optimal regulation of these parameters is challenging because of the complexity of the physiological dynamics from person to person as a result of the unique physical features such as musculoskeletal distribution. Furth…
Learning a Shape-adaptive Assist-as-needed Rehabilitation Policy from Therapist-informed Input
Division of Industrial Data Science (DIDS), School of Data Science, Lingnan University（工业数据科学系（DIDS），数据科学学院，岭南大学）；School of Mechanical Engineering, Tongji University（机械工程学院，同济大学）；Chair of Robotics and Systems Intelligence, MIRMI-Munich Institute of Robotics and Machine Intelligence, Technical University of Munich（机器人与系统智能 chair，慕尼黑工业大学机器人与机器智能研究所）；Mohamed bin Zayed University of Artificial Intelligence, Abu Dhabi, UAE（马尔代夫 bin Zayed 大学人工智能，阿布扎赫德，阿联酋）
Carnegie Mellon University（卡内基梅隆大学）；Instituto Superior Técnico, Universidade de Lisboa（里斯本大学高等理工学院）；Madeira Interactive Technology Institute, University of Madeira（马德拉大学马德拉交互技术研究所）
The research of a socially assistive robot has a potential to augment and assist physical therapy sessions for patients with neurological and musculoskeletal problems (e.g. stroke). During a physical therapy session, generating personalized feedback is critical to improve patient's engagement. However, prior work on socially assistive robotics for physical therapy has mainly utilized pre-defined corrective feedback even if patients have various physical and functional abilities. This paper presents an interactive approach of a socially assistive robot that can dynamically select kinematic feat…
Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study
School of Informatics, University of Edinburgh（爱丁堡大学信息学院）；Rey Juan Carlos University（雷伊胡安卡洛斯大学）；Cajal Institute（卡哈尔研究所）；The Alan Turing Institute（艾伦·图灵研究所）
Instituto Tecnológico de Buenos Aires (ITBA)（布宜诺斯艾利斯理工学院）；CINER Centro Integral de Neurorehabilitación（CINER综合神经康复中心）
Stroke is a medical condition that can affect motor function, particularly dynamic balance. Biofeedback can aid in rehabilitation procedures which help patients to regain lost motor activity and recover functionality. In this work, we are presenting a robotic smart-vest device that can analyze Inertial Measurement Unit (IMU) data and assist in rehabilitation procedures by providing timed feedback in the form of vibrotactile stimulation. Information provided by principal caregivers and patients in the form of surveys and interviews, is used to hypothesize potential clinical causes and to derive…
IMT Atlantique（大西洋高等电信学院）；CHRU de Brest（布雷斯特大学医院中心）；European University of Brittany（布列塔尼欧洲大学）
The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach capable of demonstrating rehabilitation exercises to patients, watch a patient carry out the exercises and give him feedback so as to improve his performance and encourage him. The HRI of the system is based on our study with a team of rehabilitation therapists and with the target population.The system relies on human motion analysis. We develop a method for lea…
Tele-rehabilitation with online skill transfer and adaptation in $\mathbb{R}^3 \times \mathit{S}^3$
MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany（慕尼黑工业大学机器人与机器智能研究所）；Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）
Soft Robotic Exogloves for Dexterous Mobility -- Towards Personalized Rehabilitation
Department of Mechanical Engineering, Stevens Institute of Technology（机械工程系，史蒂文斯理工学院）；Faculty of Mechanical Engineering, Stevens Institute of Technology（机械工程学院，史蒂文斯理工学院）
In recent years, the research of rehabilitation robot technology has become a hotspot in the field of rehabilitation medicine engineering and robotics. To assist active rehabilitation in patients with unilateral lower extremity injury, we propose a new self-service rehabilitation training method to control the injured lower extremity through its contralateral healthy upper limbs. Firstly, the movement data of upper limbs and lower limbs of healthy people in normal walking state are obtained by gait measurement experiment. Secondly, the eigenvectors of upper limb and lower limb movements in a s…
Robotic Trail Maker Platform for Rehabilitation in Neurological Conditions: Clinical Use Cases
OSF HealthCare Outpatient Rehabilitation（OSF医疗保健门诊康复中心）；University of Belgrade（贝尔格莱德大学）；University of Illinois Urbana Champaign（伊利诺伊大学厄巴纳-香槟分校）；University of Ljubljana（卢布尔雅那大学）；Zhejiang University（浙江大学）；Aalto University（阿尔托大学）
International Islamic University Malaysia（马来西亚国际伊斯兰大学）；University of Oklahoma（俄克拉荷马大学）
Over the years, the number of exoskeleton devices utilized for upper-limb rehabilitation has increased dramatically, each with its own set of pros and cons. Most exoskeletons are not portable, limiting their utility to daily use for house patients. Additionally, the huge size of some grounded exoskeletons consumes space while maintaining a sophisticated structure and require more expensive materials. In other words, to maintain affordability, the device's structure must be simple. Thus, in this work, a portable elbow exoskeleton is developed using SolidWorks to incorporate a Twisted Strings Ac…
This paper presents preliminary results of the design, development, and evaluation of a hand rehabilitation glove fabricated using lobster-inspired hybrid design with rigid and soft components for actuation. Inspired by the bending abdomen of lobsters, hybrid actuators are built with serially jointed rigid shells actuated by pressurized soft chambers inside to generate bending motions. Such bio-inspiration absorbs features from the classical rigid-bodied robotics with precisely-defined motion generation, as well as the emerging soft robotics with light-weight, physically safe, and adaptive act…
The use of rehabilitation robotics in clinical applications gains increasing importance, due to therapeutic benefits and the ability to alleviate labor-intensive works. However, their practical utility is dependent on the deployment of appropriate control algorithms, which adapt the level of task-assistance according to each individual patient's need. Generally, the required personalization is achieved through manual tuning by clinicians, which is cumbersome and error-prone. In this work we propose a novel online learning control architecture, which is able to personalize the control force at …
Imperial College London（帝国理工学院）；University of Paris-Est Créteil（巴黎东克雷泰伊大学）；McLaren Applied（迈凯伦应用公司）
Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains unresolved given pathological variance among patients. We introduce a model predictive control (MPC) architecture for lower limb exoskeletons centred around a fuzzy logic algorithm (FLA) identifying modes of assistance based on human involvement. Assistance modes are: 1) passive for human relaxed and robot dominant, 2) active-assist for human cooperation with …
Rehabilitation robotics combined with video game technology provides a means of assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The current work presents ReHabGame, a serious game using a fusion of implemented technologies that can be easily used by patients and therapists to assess and enhance sensorimotor performance and also increase the activities in the daily lives of patients. The game allows a player to control avatar movements through a Kinect Xbox, Myo armband and rudder foot pedal, and involves a series of reach-g…
UJF-CNRS；TIMC-IMAG Laboratory（TIMC-IMAG实验室）；IN3S – School of Medicine（IN3S医学院）
Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends i…
An Ergonomic, Customizable Soft Robotic Glove toward Personalized Hand Rehabilitation
The Biorobotics Inst. and Dept. of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy（生物机器人研究所和机器人与人工智能卓越部门，圣安娜高等学院，比萨，意大利）；Institute of Mechanical Intelligence and Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna (SSSA), 56127, Pisa, Italy（机械智能研究所和机器人与人工智能卓越部门，圣安娜高等学院（SSSA），56127，比萨，意大利）；CAS Key Laboratory of Mechanical Behavior and Design of Materials, Institute of Humanoid Robots, School of Engineering Sciences, University of Science and Technology of China, Hefei, China（中国科学技术大学材料机械行为与设计国家重点实验室，人形机器人研究所，工程科学学院，合肥，中国）；Modular Implantable Neuroprostheses (MINE) Laboratory, Università Vita-Salute San Raffaele & Sant’Anna School of Advanced Studies, Milan, Italy（可植入神经假体（MINE）实验室，维塔-桑瑞法大学及圣安娜高级研究学院，米兰，意大利）；Careggi University Hospital, 50134 Florence, Italy（Careggi大学医院，50134，佛罗伦萨，意大利）；Bertarelli Fndn. Chair in Translational Neuroengineering, Neuro X Institute, École Polytechnique Fédérale de Lausanne (EPFL), Laussane, Switzerland（伯特拉里基金会转化神经工程主席，Neuro X研究所，洛桑联邦理工学院（EPFL），洛桑，瑞士）
Therapist-Exoskeleton-Patient Interaction for Gait Therapy
Shirley Ryan AbilityLab；Center for Robotics and Biosystems（机器人与生物系统中心）；Department of Biomedical Engineering（生物医学工程系）；Department of Mechanical Engineering（机械工程系）；Department of Physical Medicine and Rehabilitation（康复医学系）
Fully wearable hand rehabilitation and assistive devices could extend training and improve quality of life for patients affected by hand impairments. However, such devices must deliver meaningful manipulation capabilities in a small and lightweight package. In this context, this paper investigates the capability of single-actuator devices to assist whole-hand movement patterns through a network of exotendons. Our prototypes combine a single linear actuator (mounted on a forearm splint) with a network of exotendons (routed on the surface of a soft glove). We investigated two possible tendon net…
Assistive robotics and particularly robot coaches may be very helpful for rehabilitation healthcare. In this context, we propose a method based on Gaussian Process Latent Variable Model (GP-LVM) to transfer knowledge between a physiotherapist, a robot coach and a patient. Our model is able to map visual human body features to robot data in order to facilitate the robot learning and imitation. In addition , we propose to extend the model to adapt robots' understanding to patient's physical limitations during the assessment of rehabilitation exercises. Experimental evaluation demonstrates promis…
Robotics Applications in Neurology: A Review of Recent Advancements and Future Directions
Kariadi Hospital（卡里亚迪医院）；Indonesia Center for Technology Empowerment (ICTE)（印度尼西亚技术赋能中心）；Diponegoro University（迪波内戈罗大学）；UNDIP（迪波内戈罗大学）；UNS（塞贝拉斯马雷特大学）；Syiah Kuala University（锡亚库阿拉大学）；RS Permata Cirebon（佩尔马塔井里汶医院）
German Research Center for Artificial Intelligence（德国人工智能研究中心）；National Research Council of Italy（意大利国家研究委员会）；Augsburg University（奥格斯堡大学）；Scientific Institute IRCCS E. Medea（E.梅迪亚IRCCS科学研究所）
In today's world, many patients with cognitive impairments and motor dysfunction seek the attention of experts to perform specific conventional therapies to improve their situation. However, due to a lack of neurorehabilitation professionals, patients suffer from severe effects that worsen their condition. In this paper, we present a technological approach for a novel robotic neurorehabilitation training system. It relies on a combination of a rehabilitation device, signal classification methods, supervised machine learning models for training adaptation, training exercises, and socially inter…
Towards Human-AI-Robot Collaboration and AI-Agent based Digital Twins for Parkinson's Disease Management: Review and Outlook
Computer, Electrical and Mathematical Sciences and Engineering Division (CEMSE), King Abdullah University of Science and Technology（计算机、电气与数学科学和工程系，国王 Abdullah 科学与技术大学）；College of Engineering & Advanced Computing and the Translational Biomedical Engineering Research lab, Alfaisal University（工程与高级计算学院及转化生物医学工程研究实验室，阿尔法西尔大学）；Electrical Engineering Department and the Center for Communication Systems and Sensing, King Fahd University of Petroleum and Minerals (KFUPM)（电气工程系及通信系统与感知中心，国王法赫德石油与矿物大学）
