Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs. While it is unlikely to equip a set of rehabilitation robots at home, we investigate the feasibility to use the general-purpose collaborative robot for rehabilitation therapies. In this work, we developed a new system for multi-purpose upper-limb rehabilitation training using a generic robot arm with human motor feedback and preference. We integrated surface electromyography, force/torque sensors, RGB-D cameras, and robot controllers with the Robot Operating System to enable sensing, communication, and control of the system. Imitation learning methods were adopted to imitate expert-provided training trajectories which could adapt to subject capabilities to facilitate in-home training. Our rehabilitation system is able to perform gross motor function and fine motor skill training with a gripper-based end-effector. We simulated system control in Gazebo and training effects (muscle activation level) in OpenSim and evaluated its real performance with human subjects. For all the subjects enrolled, our system achieved better training outcomes compared to specialist-assisted rehabilitation under the same conditions. Our work demonstrates the potential of utilizing collaborative robots for in-home motor rehabilitation training.

翻译：针对运动功能障碍患者的康复训练通常需要康复中心内的专用设备。家庭环境下的多用途训练可显著提升治疗可及性并降低医疗成本。虽然为家庭配备整套康复机器人尚不现实，本研究探究了通用型协作机器人在康复治疗中的应用可行性。本工作利用集成人体运动反馈与偏好的通用机械臂，开发了一套新型多用途上肢康复训练系统。我们通过机器人操作系统（Robot Operating System）集成了表面肌电图、力/力矩传感器、RGB-D深度相机及机器人控制器，实现系统的感知、通信与控制功能。采用模仿学习方法模仿专家提供的训练轨迹，该轨迹可依据受试者能力进行自适应调整，从而促进居家训练。我们的康复系统能够通过基于夹爪的末端执行器完成粗大运动功能与精细运动技能训练。我们在Gazebo中模拟系统控制，在OpenSim中模拟训练效果（肌肉激活水平），并通过真人受试者评估系统实际表现。在所有入组受试者中，本系统在同等条件下取得了优于专业康复师辅助训练的康复效果。本研究证实了利用协作机器人开展家庭运动康复训练的潜力。