Abstract In this paper, a new impedance-based teleoperation strategy is proposed for assist-as-needed tele-rehabilitation via a multi-DOF telerobotic system having patient–master and therapist–slave interactions. Unlike a regular teleoperation system and as the main contribution of this work to minimize the therapist’s movements, the therapist’s hand only follows the patient’s deviation from the target trajectory. Also it provides a better perception of the patient’s problems in motor control to the therapist The admissible deviation of the patient’s limb from a reference target trajectory is governed by an impedance model responding to both patient’s and therapist’s interaction forces. As the other benefit of this framework, two sources of assistance to the patient are delivered through the master robot: (1) the adjustable impedance model, and (2) the force applied by the therapist to the slave robot. The assistive impedance model is beneficial to reduce magnitudes of the required force from the therapist and decrease his/her intervention. This results in delaying and declining the therapist’s muscle fatigue in time-consuming movement therapies. Bilateral nonlinear control laws with two types of adaptation laws are designed for the nonlinear teleoperation system. The Lyapunov stability proof of the teleoperation system and the stability of the impedance model enhance the patient’s and therapist’s safety even in the presence of modeling uncertainties of the multi-DOF telerobotic system. The performance of the proposed bilateral impedance-based strategy is experimentally investigated using different impedance parameters adjusted based on the patient’s characteristics (e.g., involuntary tremor) and disabilities (e.g., insufficient actuation force). The experiments are performed by a healthy person (as the therapist), a mechanical test bed and a volunteer (simulating the patients’ characteristics). A new force–position mapping from Cartesian to Normal–Tangential (N–T) coordinates is utilized between the master and slave workspaces and compared with typical Cartesian to Cartesian projection.

中文翻译：

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使用远程机器人介导的治疗师监督进行运动治疗的按需辅助政策

摘要 在本文中，提出了一种新的基于阻抗的远程操作策略，通过具有患者-主和治疗师-从交互的多自由度远程机器人系统进行按需辅助远程康复。与常规远程操作系统不同，作为这项工作的主要贡献，最大限度地减少治疗师的运动，治疗师的手只会跟随患者偏离目标轨迹。它还为治疗师提供了对患者运动控制问题的更好理解。患者肢体与参考目标轨迹的容许偏差由响应患者和治疗师相互作用力的阻抗模型控制。作为该框架的另一个好处，通过主机器人向患者提供两种帮助来源：（1）可调阻抗模型，(2) 治疗师对从机器人施加的力。辅助阻抗模型有利于减少治疗师所需力量的大小并减少他/她的干预。这导致在耗时的运动疗法中延迟和减少治疗师的肌肉疲劳。针对非线性遥操作系统设计了具有两种自适应律的双边非线性控制律。远程操作系统的 Lyapunov 稳定性证明和阻抗模型的稳定性增强了患者和治疗师的安全，即使存在多自由度远程机器人系统的建模不确定性。使用基于患者特征调整的不同阻抗参数（例如，不自主的震颤）和残疾（例如，驱动力不足）。实验由健康人（作为治疗师）、机械试验台和志愿者（模拟患者的特征）进行。在主工作空间和从工作空间之间使用了从笛卡尔坐标到法向切线 (N-T) 坐标的新力-位置映射，并与典型的笛卡尔到笛卡尔投影进行了比较。