In this paper, we present an intelligent Assistant for Robotic Therapy (iART), that provides robotic assistance during 3D trajectory tracking tasks. We propose a novel LSTM-based robot learning from demonstration (LfD) paradigm to mimic a therapist's assistance behavior. iART presents a trajectory agnostic LfD routine that can generalize learned behavior from a single trajectory to any 3D shape. Once the therapist's behavior has been learned, iART enables the patient to modify this behavior as per their preference. The system requires only a single demonstration of 2 minutes and exhibits a mean accuracy of 91.41% in predicting, and hence mimicking a therapist's assistance behavior. The system delivers stable assistance in realtime and successfully reproduces different types of assistance behaviors.

翻译：本文提出了一种智能机器人治疗辅助系统（iART），可在三维轨迹追踪任务中提供机器人辅助。我们提出了一种新颖的基于LSTM的机器人演示学习范式（LfD），用以模仿治疗师的辅助行为。iART提出了一种轨迹无关的LfD流程，能够将学习到的行为从单一轨迹泛化到任意三维形状。在掌握治疗师的行为后，iART使患者能够根据自身偏好调整该行为。该系统仅需2分钟的单次演示，在预测进而模仿治疗师辅助行为方面达到91.41%的平均准确率。该系统可实时提供稳定的辅助，并成功复现不同类型的辅助行为。