Robotic rehabilitation for poststroke therapies is an emerging new domain of application for robotics with proven success stories and clinical studies. New robotic devices and software applications are hitting the market, with the aim of assisting specialists carrying out physical therapies and even patients exercising at home. Rehabilitation robots are designed to assist patients performing repetitive movements with their hemiparetic limbs to regain motion. A successful robotic device for rehabilitation demands high workspace and force feedback capabilities similar to a human physiotherapist. These desired features are usually achieved at the expense of other important requirements, such as transparency and backdrivability, degrading the overall human-machine interaction experience.

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机器人中主动重力补偿的机器学习：在神经康复系统中的应用

中风后疗法的机器人康复是机器人技术领域一个新兴的新兴领域，具有成功的经验和临床研究。新的机器人设备和软件应用正在市场上，目的是协助专家进行物理疗法，甚至是在家锻炼的患者。康复机器人旨在帮助患者半腹肢进行重复性运动以恢复运动。成功的康复机器人设备需要很高的工作空间和类似于人体物理治疗师的力反馈能力。通常以其他重要要求（例如透明性和可逆性）为代价来实现这些所需的功能，从而降低了人机交互的整体体验。