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在康复中心使用专用设备。居家多功能训练可显著提升治疗可及性并降低医疗成本。鉴于家庭环境中难以配备全套康复机器人，本研究探讨了采用通用型协作机器人开展康复治疗的可行性。我们开发了一套基于通用机械臂的多功能上肢康复训练新系统，融合了人体运动反馈与偏好信息。通过将表面肌电信号、力/力矩传感器、RGB-D相机及机器人控制器集成至机器人操作系统，实现了系统的感知、通信与控制功能。采用模仿学习方法复现专家提供的训练轨迹，该系统可自适应受试者的运动能力，便于居家训练。所开发的康复系统能够借助夹爪式末端执行器实现粗大运动与精细运动技能训练。我们在Gazebo中完成了系统控制仿真，在OpenSim中评估了训练效果（肌肉激活水平），并通过受试者实验验证了系统的实际性能。所有参与实验的受试者数据显示，在同等条件下本系统的训练效果优于专业治疗师辅助康复训练。本研究证明了利用协作机器人开展居家运动康复训练的可行性。