A Novel Upper Limb Rehabilitation Framework Based on Dual-Arm Robotics for Therapist-Like Traction Training

Abstract

In this letter, we propose a novel upper limb rehabilitation framework based on dual-arm robotics for therapist-like traction training. Prioritizing patient safety, an 8-DOF kinematic model of the upper limb complex is derived to evaluate the reachable workspace of the end-of-arm and forearm during interaction with a dual-arm robot. Leveraging the characteristics of dual-arm rehabilitation, a non-redundant inverse kinematics method is proposed to constrain joint angles, thereby establishing a safety mechanism under dual constraints. Secondly, considering the training science and compliance, a potential field control strategy is introduced to enable the robot to learn the therapist's traction characteristics from a single demonstration. Combined with the master-slave control, it reproduces the therapist's assistance and allows for compliant interaction. Experimental results show that the proposed framework combines the strong adaptability and comfort of end-effector robots with the precise rehabilitation of exoskeleton robots. As dual-arm and humanoid robots become more widely adopted, the proposed scheme holds promise for delivering therapist-like safe, scientific, and compliant rehabilitation in clinical and home settings.