Human Factors in Robotics for Motor Rehabilitation, Assistance, and Prosthetics

Kurzfassung

Among the challenges in biomedical robotics, assisting and restoring motor skills is a priority to enable individuals with impairments to perform activities of daily living (ADLs). Robots can enhance human mobility and interaction capabilities through solutions tailored to individual skills, limitations, and goals in specific contexts. For rehabilitation, end-effector robots and exoskeletons are often programmed to guide users in exercises designed to restore motor functions after severe incidents, such as strokes, or in cases of chronic and degenerative conditions. These devices can also be integrated into telerehabilitation systems. Assistive robots, on the other hand, improve the quality of life for individuals whose impairments cannot be fully addressed through therapy, such as those due to aging. Devices like robotic arms, wheelchairs, walkers, and exoskeletons support ADLs and even facilitate social interactions through telepresence systems. Bionic prostheses, designed for limb replacement in cases of amputation or agenesis, could achieve a high level of embodiment -- allowing users to perceive the prosthesis as part of their body. This need for a better integration between humans and robots exemplifies challenges common to all three domains. This chapter introduces fundamental aspects of cognitive ergonomics and human factors that designers, clinicians, and users must consider when using rehabilitative, assistive, or prosthetic systems. The ultimate goal is to provide a 'truly' human-centered motor assistance, and recovery, through robotic systems.