A framework for supervised robotics-assisted mirror rehabilitation therapy

In this paper, a novel robotics-assisted rehabilitation framework is proposed for bilateral mirror-image therapy. For this purpose, a customized dual-user teleoperation architecture is designed incorporating Guidance Virtual Fixtures (GVFs) to deliver the appropriate therapeutic movements to the patient´s impaired limb by providing an assist-as-needed treatment strategy. In addition, the therapist is provided with informative haptic feedback that is generated based on the patient´s movements, allowing the therapist to decide in real-time on the level and format of the therapy required for the patient. Stability of the closed-loop system is also investigated using the small gain theorem, in the presence of communication time delays, facilitating the case of remote tele-rehabilitation. Experimental results are given to validate the performance of the proposed platform.