用虚拟现实游戏+机器人教练，帮有上肢障碍的孩子在家做康复训练。
THRIVE: Therapeutic Humanoid Robot In Virtual Environment
- 设计可定制的互动游戏，聚焦抓取、伸展等动作训练。
- 摄像头实时追踪动作，机器人提供动态反馈与激励。
- 系统模块化，支持多种机器人形态，适合家庭长期使用。
本文提出THRIVE（Therapeutic Humanoid Robot In Virtual Environment），一种面向居家康复的上肢功能训练平台，整合虚拟现实上肢康复游戏、基于摄像头的实时动作捕捉系统以及具社会交互能力的机器人治疗师。该系统针对上肢运动功能障碍儿童，通过持续、任务特定的练习实现改善。THRIVE包含新设计的趣味性游戏，涵盖可定制的弹击、击打、接住和抓取等任务，以训练功能性伸展、抓握与物体操作；摄像头系统实时捕获儿童在游戏中的运动学表现。一名机器人治疗师（可为实体机器人教练或远程虚拟代理）提供自适应动态反馈，以激励儿童并引导其动作朝治疗目标前进。系统将治疗游戏与机器人载体解耦，实现模块化设计，支持多种机器人形态与部署方式，具备成本低、可扩展、易适应的特点，为儿童上肢功能障碍的持续、高参与度康复提供了可行路径。
原文摘要 · Abstract (English)
This paper presents THRIVE (Therapeutic Humanoid Robot In Virtual Environment), an at-home rehabilitation platform that integrates a suite of virtual-reality upper-body rehabilitation games, a real-time camera-based motion-tracking system, and a socially interactive robot therapist. The system is designed for therapy and intervention in children with upper-limb motor impairments, which can be improved through consistent, task-specific practice. THRIVE features a set of newly designed, engaging games that target functional reaching, grasping, and object-manipulation movements through customizable popping, hitting, catching, and grabbing tasks, while the camera-based tracking system captures the child's kinematic performance during play. A robot therapist - deployable either as a physical robotic coach or as a remote-presence virtual agent - delivers adaptive, dynamic feedback to motivate the child and guide their movements toward therapeutic goals. THRIVE decouples the therapeutic games from the robot embodiment, extending the platform to support various embodiments and different robots within one modular system. This robot-agnostic design makes THRIVE affordable, scalable, and readily adaptable for sustained use in the home, offering a practical pathway to more consistent and engaging upper-limb therapy for children with motor function impairments.
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