Journal of Bionic Engineering (2025) 22:670–683 https://doi.org/10.1007/s42235-025-00665-0

Research on Mirror-Assisted Rehabilitation Training Method Based on  Dual-Arm Robots

Xiaolong Yang1,2 · Qing Sun1,2,3 · Shuai Guo1,2

1 School of Mechatronic Engineering and Automation,  Shanghai University, Shanghai University, Shanghai  200444, China 

2 National Demonstration Center for Experiment Engineering  Training Education, Shanghai University, Shanghai  200444, China 

3 Hangzhou Innovation Institute, Beihang University,  Hangzhou 310051, China

Abstract 

This paper studies a mirror-assisted rehabilitation training method based on a dual-arm robot, which aims to provide an  effective rehabilitation training program for patients with upper limb dysfunction due to stroke or other causes. During the  mirror training task scenario, the subjects are visually guided to perform the mirror movement of both arms, and the dual-arm robot is used to facilitate the mirror-assisted rehabilitation from the healthy side to the affected side. Adaptive impedance control and force field channel design ensure the stability and safety of the rehabilitation process. In the rehabilitation  training, appropriate assistance forces are provided within the channel to correct trajectory deviations, ensuring that the  subjects’ movement path aligns with the predetermined trajectory. Outside the channel, the superposition of stiffness and  correction force fields prevents the subjects from deviating from the predetermined trajectory, thus avoiding injuries. In  addition, the adaptive impedance control is capable of dynamically adjusting the impedance parameters according to the  real-time state of the subjects, providing a personalized rehabilitation training program. This method significantly enhances  both the safety and effectiveness of the rehabilitation training. The experimental results showed that the subjects’ motion  flexibility and safety were significantly improved during the mirror-assisted rehabilitation training. This study offers a new  approach for the future development of rehabilitation robotics with broad application potential. 

Keywords Mirror-assisted rehabilitation · Dual-arm robot · Adaptive impedance control · Force field channel design