Distortion-based interface design for sustainable robotic therapy

康复机器人领域解决了残疾人及其照顾者在身体、情感和认知方面的健康功能需求。作为家庭帮手和生命延长器，机器人已经被证明可以提高生活质量，并在日常生活活动中允许更多的个人独立性。通过需求驱动的设计、商业服务机器人的新用途以及传感技术、控制和认知工程领域（如视觉、抓取和路径规划）的科学进展，该领域正在稳步发展。然而，在使用包括机器人在内的治疗设备时，仍然存在一个问题，即需要治疗的人缺乏持续的动力。当残疾导致依赖和机构化时，减少遵守和放弃培训就会转化为财政和社会成本。密集和昂贵的一对一个人治疗表明，功能恢复可以显著改善；然而，在真正的收获实现之前，病人必须忍受很长一段时间的挫折。这个人会在治疗成果实现之前放弃吗？设计出有效的解决方案至关重要。

The field of Rehabilitation Robotics addresses functional needs in the well-being - physical, emotional and cognitive - of persons with disabilities and their caregivers. As household helpers and life extenders, robots have been demonstrated to improve quality of life and allow more personal independence in performing activities of daily living. The field is advancing steadily through needs-driven design, new uses of commercial service robots and the application of scientific advances in sensing technologies, controls, and cognitive engineering fields such as vision, grasping, and path-planning. Nevertheless, a persistent thread in the use of therapy devices, including robots, remains the lack of sustained motivation by people who need the therapy. Reduced compliance and abandonment of training translate to financial and societal costs when disability results in dependency and institutionalization. Intensive and expensive one-on-one personal therapy has shown that functional recovery can be significantly improved; however, the patient must endure a long period of frustration before true gains are realized. Will the person give up before the fruits of the therapy are realized? It is critical that we design solutions that work.