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Related Experiment Video

Updated: May 3, 2026

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
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Robot-Assisted Dynamic Interaction of Hemiplegic Upper Limbs with Complex Objects Based on Enhanced

Jing Bai1,2, Ruoyi Zhu1, Yicheng Jiang1

  • 1School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, China.

Biomimetics (Basel, Switzerland)
|December 24, 2025
PubMed
Summary

This study introduces a novel robotic system for occupational therapy, enhancing sensorimotor integration. The system effectively suppresses liquid sloshing during object transport tasks, improving rehabilitation training relevance.

Keywords:
dynamic interactionfeedforward controlrehabilitation trainingrobotsloshing suppression

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Area of Science:

  • Robotics
  • Rehabilitation Engineering
  • Occupational Therapy

Background:

  • Current upper-limb rehabilitation robots lack training for complex object manipulation.
  • This limits the development of high-level sensorimotor integration in patients.
  • Functional occupational therapy requires more dynamic and interactive training paradigms.

Purpose of the Study:

  • To develop an innovative robotic rehabilitation training system for functional occupational therapy.
  • To simulate complex object manipulation tasks, specifically transporting a water cup.
  • To address the limitations of current robotic systems in training sensorimotor integration.

Main Methods:

  • Abstracted cup transport into a robotic arm-controlled cup-ball system.
  • Performed kinematic and dynamic analyses of the cup-ball system.
  • Employed visual tracking to monitor ball motion and calculate slosh angle.
  • Developed a sloshing suppression control strategy (exponential filtering, feedforward compensation, impedance control) to prevent spillage.

Main Results:

  • The proposed control strategy significantly reduced the ball's oscillation rate.
  • Hand force smoothness was markedly improved with full compensation.
  • Experimental validation confirmed the effectiveness of the sloshing suppression method.

Conclusions:

  • The developed robotic system enhances functional relevance in rehabilitation training.
  • The sloshing suppression strategy effectively addresses dynamic uncertainty in robot-assisted therapy.
  • This innovation improves sensorimotor integration training for patients with impaired fine motor control.