Tele-rehabilitation with online skill transfer and adaptation in $\mathbb{R}^3 \times \mathit{S}^3$
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866914075069382656 |
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| author | Ni, Tianle Chen, Xiao Sadeghian, Hamid Haddadin, Sami |
| author_facet | Ni, Tianle Chen, Xiao Sadeghian, Hamid Haddadin, Sami |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_00770 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Tele-rehabilitation with online skill transfer and adaptation in $\mathbb{R}^3 \times \mathit{S}^3$ Ni, Tianle Chen, Xiao Sadeghian, Hamid Haddadin, Sami Robotics 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. |
| title | Tele-rehabilitation with online skill transfer and adaptation in $\mathbb{R}^3 \times \mathit{S}^3$ |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.00770 |