远程康复中，医生可实时操控机械臂指导患者训练并自适应调整动作。
Tele-rehabilitation with online skill transfer and adaptation in $\mathbb{R}^3 \times \mathit{S}^3$
- 用六自由度动态运动基元编码空间与旋转运动，实现精准轨迹复现。
- 系统支持治疗主导与被动训练间无缝切换，动作可动态调整。
- 适合远程个性化康复场景，实测验证了7自由度机械臂的可行性。
本文提出一种用于机器人辅助远程康复的远程教学框架。系统通过双边遥操作连接治疗师侧与患者侧的机器人机械臂，使治疗师能远程示范康复训练动作，由患者侧机械臂执行。采用六自由度动态运动基元（6-DoF Dynamical Movement Primitives）在ℝ³×𝒮³空间中联合编码平移与旋转运动，确保轨迹复现精度。该框架支持治疗师引导与患者被动训练之间的平滑过渡，并允许对运动进行自适应调整。使用7自由度机械臂的实验验证了方法的可行性，展示了其在个性化、远程监督康复中的应用潜力。
原文摘要 · Abstract (English)
This paper proposes a tele-teaching framework for the domain of robot-assisted tele-rehabilitation. The system connects two robotic manipulators on therapist and patient side via bilateral teleoperation, enabling a therapist to remotely demonstrate rehabilitation exercises that are executed by the patient-side robot. A 6-DoF Dynamical Movement Primitives formulation is employed to jointly encode translational and rotational motions in $\mathbb{R}^3 \times \mathit{S}^3$ space, ensuring accurate trajectory reproduction. The framework supports smooth transitions between therapist-led guidance and patient passive training, while allowing adaptive adjustment of motion. Experiments with 7-DoF manipulators demonstrate the feasibility of the approach, highlighting its potential for personalized and remotely supervised rehabilitation.
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