发表机构
Southern University of Science and Technology; Harbin Institute of Technology; Beijing University of Technology; Shenzhen University of Advanced Technology General Hospital; Tianjin University Tianjin Hospital; Tianjin University of Sport; National Research Center for Rehabilitation Technical Aids; University of Manchester; Huazhong University of Science and Technology; The University of Portsmouth; King's College London（南方科技大学; 哈尔滨工业大学; 北京工业大学; 深圳理工大学总医院; 天津大学天津医院; 天津体育学院; 国家康复辅具研究中心; 曼彻斯特大学; 华中科技大学; 朴茨茅斯大学; 伦敦国王学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出网络化触觉机器人系统 HaptiNet，通过力介导交互实现异地用户物理共在，经多场景验证可提升康复任务表现、参与度及人际运动同步性，在长距离城际部署中表现稳定。
AI 中文摘要
协作式康复可提升参与度、任务表现及社会运动交互，但需物理共在：用户需通过触觉接触传递力、协调动作并推断意图。远程康复有望扩大因距离、 mobility 或临床差异受限的患者的可及性，然而现有技术仍以视听为主，使用户在触觉和物理层面处于孤立状态。本文提出 HaptiNet，一种网络化触觉机器人系统，通过力介导交互实现地理分散用户的物理共在。每个机器人终端采用低惯性、长行程设计，具备高力反馈能力，专为上肢训练中的触觉渲染定制。基于这些终端，HaptiNet 构建了分布式触觉网络，配备基于模仿学习的延迟补偿器，使用户能远程进行物理感知与协调。我们在 284 名健康参与者和 111 名神经损伤患者身上，通过实验室测试、跨城市部署及临床应用等逐步真实的场景对 HaptiNet 进行验证。HaptiNet 在单用户和多用户场景下均保持任务级力渲染一致性。与单独训练及视觉协作训练相比，触觉协作分别提升任务表现 24% 和 22%，同时提高参与度和人际运动同步性。在总长度约 4000 公里的三条城际链路中，HaptiNet 维持了神经损伤患者间的稳定触觉交互，较单独条件下，基线至训练得分提升达 3.87 倍，患者施加的努力高出 106%。
英文摘要
Cooperative rehabilitation enhances engagement, task performance, and social-motor interaction, yet it demands physical co-presence: users must transmit forces, coordinate movements, and infer intent through haptic contact. Telerehabilitation promises to expand access for patients constrained by distance, mobility, or clinical disparities, yet current techniques remain predominantly audiovisual while leaving users haptically and physically isolated. Here, we introduce HaptiNet, a networked haptic robotic system enabling physical co-presence for geographically distributed users via force-mediated interaction. Each robotic terminal features a low-inertia, long-stroke design with high force-feedback capacity, tailored for haptic rendering in upper-limb training. Building on these terminals, HaptiNet creates a distributed haptic network with an imitation-learning-based delay compensator, enabling users to physically perceive and coordinate with one another over distance. We validated HaptiNet in 284 healthy participants and 111 patients with neurological impairments across progressively realistic settings, including laboratory tests, cross-city deployments, and clinical applications. HaptiNet preserved task-level force rendering consistency across single-user and multi-user scenarios. Compared with solo and visual cooperative training, haptic cooperation improved task performance by 24% and 22%, respectively, while also boosting engagement and interpersonal motor synchrony. Across three intercity links totaling approximately 4,000 km, HaptiNet maintained stable haptic interaction among patients with neurological impairments, producing a 3.87-fold greater baseline-to-training score improvement and a 106% higher patient-applied effort over the solo condition.
