In this pioneering study, we unveiled a groundbreaking approach for actuating rehabilitation robots through the innovative use of magnetic technology as a seamless haptic force generator, offering a leap forward in enhancing user interface and experience, particularly in end-effector-based robots for upper-limb extremity motor rehabilitation. We employed the Extended Kalman Filter to meticulously analyze and formalize the robotic system's nonlinear dynamics, showcasing the potential of this sophisticated algorithm in accurately tracking and compensating for disturbances, thereby ensuring seamless and effective motor training. The proposed planar robotic system embedded with magnetic technology was evaluated with the recruitment of human subjects. We reached a minimum RMS value of 0.2 and a maximum of 2.06 in our estimations, indicating our algorithm's capability for tracking the system behavior. Overall, the results showed significant improvement in smoothness, comfort, and safety during execution and motor training. The proposed novel magnetic actuation and advanced algorithmic control opens new horizons for the development of more efficient and user-friendly rehabilitation technologies.

翻译：在这项开创性研究中，我们提出了一种基于磁技术的康复机器人驱动新方法，将其作为无缝触觉力发生器，在提升人机交互界面与体验方面实现跨越式进步，尤其适用于上肢运动康复的末端执行器型机器人。我们采用扩展卡尔曼滤波器对机器人系统的非线性动力学特性进行精细化分析与形式化建模，展示了该复杂算法在精确跟踪与补偿扰动方面的潜力，从而确保无缝且有效的运动训练。通过招募受试者开展实验评估，本研究所提出的嵌入磁技术的平面机器人系统在估计中达到最小均方根值0.2、最大值2.06，表明算法具有跟踪系统行为的能力。总体而言，在执行过程及运动训练中，平滑度、舒适性和安全性均得到显著改善。所提出的新型磁驱动与先进算法控制为开发更高效、更友好的康复技术开辟了新前景。