Abstract
The discrepancy between the growing need for rehabilitation and the inadequate availability of facilities and skilled therapists is becoming increasingly conspicuous. To address this problem, a tele-rehabilitation system of the upper extremity with the service robot GARMI is proposed. The system utilizes optimal control and game theory, considering the patient, GARMI and possibly the therapist as the agents who share a common cost function. By adapting the roles of these agents, the proposed system can provide passive, active, and assist-as-needed rehabilitation.
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