{"ID":2862023,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.00770","arxiv_id":"2510.00770","title":"Tele-rehabilitation with online skill transfer and adaptation in $\\mathbb{R}^3 \\times \\mathit{S}^3$","abstract":"This paper proposes a tele-teaching framework for the domain of robot-assisted tele-rehabilitation. The system connects two robotic manipulators on therapist and patient side via bilateral teleoperation, enabling a therapist to remotely demonstrate rehabilitation exercises that are executed by the patient-side robot. A 6-DoF Dynamical Movement Primitives formulation is employed to jointly encode translational and rotational motions in $\\mathbb{R}^3 \\times \\mathit{S}^3$ space, ensuring accurate trajectory reproduction. The framework supports smooth transitions between therapist-led guidance and patient passive training, while allowing adaptive adjustment of motion. Experiments with 7-DoF manipulators demonstrate the feasibility of the approach, highlighting its potential for personalized and remotely supervised rehabilitation.","short_abstract":"This paper proposes a tele-teaching framework for the domain of robot-assisted tele-rehabilitation. The system connects two robotic manipulators on therapist and patient side via bilateral teleoperation, enabling a therapist to remotely demonstrate rehabilitation exercises that are executed by the patient-side robot. A...","url_abs":"https://arxiv.org/abs/2510.00770","url_pdf":"https://arxiv.org/pdf/2510.00770v2","authors":"[\"Tianle Ni\",\"Xiao Chen\",\"Hamid Sadeghian\",\"Sami Haddadin\"]","published":"2025-10-01T11:02:25Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}