A Flexible Clinician-Friendly Interface for Upper Limb Rehabilitation with Industrial Robots

This paper presents a flexible software with a Graphical User Interface (GUI) designed to assist clinicians in upper limb robotic rehabilitation sessions. The flexibility comes from the fact that, since it relies on the Robot Operating System 2 (ROS2) framework, it is potentially compatible with any collaborative industrial robot, with relatively low integration effort. The software collects and analyzes data related to each session to identify critical movement directions for each patient, detecting improvements or regressions through statistical tests, thus reducing subjectivity. Moreover, it suggests personalized physical and cognitive rehabilitation exercises focusing on the most critical movement directions. Results are visualized through intuitive graphs, allowing clinicians to design custom trajectories tailored to each patient's needs. The software has been tested in combination with a Franka Emika Panda robot proving its seamless integration and ability to process data in real time.