Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific, repetitive, and labor-intensive. The conventional method, where therapists collaborate with patients to conduct repetitive physical training, proves strenuous due to these characteristics. The concept of robot-assisted rehabilitation, assisting therapists with robotic systems, has gained substantial popularity. However, building such systems presents challenges, such as diverse task demands, uncertainties in dynamic models, and safety issues. To address these concerns, in this paper, we proposed a bilateral teleoperation system for rehabilitation. The control scheme of the system is designed as an integrated framework of impedance control and disturbance observer where the former can ensure compliant human-robot interaction without the need for force sensors while the latter can compensate for dynamic uncertainties when only a roughly identified dynamic model is available. Furthermore, the scheme allows free switching between tracking tasks and physical human-robot interaction (pHRI). The presented system can execute a wide array of pre-defined trajectories with varying patterns, adaptable to diverse needs. Moreover, the system can capture therapists' demonstrations, replaying them as many times as necessary. The effectiveness of the teleoperation system is experimentally evaluated and demonstrated.

翻译：物理运动疗法是康复治疗中的关键方法，旨在恢复因神经系统疾病或事故导致运动功能障碍患者的行动能力。此类疗法通常具有患者特异性、重复性及劳动密集型特征。传统方法依赖治疗师与患者协作进行重复性物理训练，这些特性使其过程极为繁重。机器人辅助康复的概念——利用机器人系统协助治疗师——已获得广泛关注。然而，构建此类系统面临诸多挑战，包括多样化的任务需求、动力学模型的不确定性以及安全性问题。为解决这些问题，本文提出一种用于康复治疗的双边遥操作系统。该系统的控制方案设计为阻抗控制与扰动观测器的集成框架：前者可在无需力传感器的情况下确保柔顺的人机交互，后者则能在仅具备粗略辨识动力学模型时补偿动态不确定性。此外，该方案支持跟踪任务与物理人机交互（pHRI）之间的自由切换。所提出的系统能够执行多种具有不同模式的预定义轨迹，适应多样化需求。同时，系统可记录治疗师的示范动作，并按需多次复现。通过实验评估验证了该遥操作系统的有效性。