远程康复中通过触觉机器人实现真实物理互动，提升协作表现与参与度。
HaptiNet: Networked Haptic Robots Enable Physical Co-presence in Geographically-Unconstrained Rehabilitation
- 基于模仿学习设计延迟补偿机制，实现跨距离触觉协同。
- 触觉协作使任务表现提升24%，人际运动同步性显著增强。
- 适用于神经损伤患者，支持跨城市4000公里稳定触觉连接。
协作式康复可提升参与度、任务表现和社交-运动互动，但需物理共处：用户必须传递力、协调动作并感知意图，依赖触觉接触。远程康复虽有望扩大受地理、行动或医疗资源限制患者的可及性，但现有技术仍以音视频为主，用户在触觉和身体层面仍感隔离。本文提出HaptiNet，一种网络化触觉机器人系统，通过力反馈实现地理分布用户的物理共在。每个机器人终端采用低惯量、长行程设计，具备高力反馈能力，专为上肢训练中的触觉呈现优化。在此基础上，HaptiNet构建分布式触觉网络，引入基于模仿学习的延迟补偿器，使用户能跨越距离感知并协调彼此动作。我们在284名健康参与者和111名神经损伤患者中验证了HaptiNet，在实验室测试、跨城部署及临床应用等逐步真实的场景中展开评估。系统在单人与多人场景中保持任务级力反馈一致性。相比单独训练与视觉协作，触觉协作分别提升任务表现24%和22%，同时增强参与度与人际运动同步性。在三段总计约4000公里的跨城链路中，系统维持稳定触觉交互，患者训练成绩相较基线提升3.87倍，施加努力较单独训练高出106%。
原文摘要 · Abstract (English)
Cooperative rehabilitation enhances engagement, task performance, and social-motor interaction, yet it demands physical co-presence: users must transmit forces, coordinate movements, and infer intent through haptic contact. Telerehabilitation promises to expand access for patients constrained by distance, mobility, or clinical disparities, yet current techniques remain predominantly audiovisual while leaving users haptically and physically isolated. Here, we introduce HaptiNet, a networked haptic robotic system enabling physical co-presence for geographically distributed users via force-mediated interaction. Each robotic terminal features a low-inertia, long-stroke design with high force-feedback capacity, tailored for haptic rendering in upper-limb training. Building on these terminals, HaptiNet creates a distributed haptic network with an imitation-learning-based delay compensator, enabling users to physically perceive and coordinate with one another over distance. We validated HaptiNet in 284 healthy participants and 111 patients with neurological impairments across progressively realistic settings, including laboratory tests, cross-city deployments, and clinical applications. HaptiNet preserved task-level force rendering consistency across single-user and multi-user scenarios. Compared with solo and visual cooperative training, haptic cooperation improved task performance by 24% and 22%, respectively, while also boosting engagement and interpersonal motor synchrony. Across three intercity links totaling approximately 4,000 km, HaptiNet maintained stable haptic interaction among patients with neurological impairments, producing a 3.87-fold greater baseline-to-training score improvement and a 106% higher patient-applied effort over the solo condition.
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