Robot-Assisted Mirror Rehabilitation for Post-Stroke Upper Limbs: A Personalized Control Strategy

Chen, Jiayue; Cheng, Zhongjiang; Cai, Yutong; Zhang, Shisheng; Zhu, Chi; Zhang, Yang

doi:10.3390/s25185659

Open AccessArticle

Robot-Assisted Mirror Rehabilitation for Post-Stroke Upper Limbs: A Personalized Control Strategy

by

Jiayue Chen

¹,

Zhongjiang Cheng

¹,

Yutong Cai

¹,

Shisheng Zhang

²

,

Chi Zhu

¹ and

Yang Zhang

^1,*

¹

Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, China

²

Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China

^*

Author to whom correspondence should be addressed.

Sensors 2025, 25(18), 5659; https://doi.org/10.3390/s25185659

Submission received: 11 July 2025 / Revised: 31 August 2025 / Accepted: 2 September 2025 / Published: 11 September 2025

(This article belongs to the Special Issue New Trends in the Sensing and Control Techniques Used for Intelligent Industrial Perception and Service Robotics)

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Abstract

To address the limitations of traditional mirror therapy in stroke rehabilitation, such as rigid movement mapping and insufficient personalization, this study proposes a robot-assisted mirror rehabilitation framework integrating multimodal biofeedback. By synchronously capturing kinematic features of the unaffected upper limb and surface electromyography (sEMG) signals from the affected limb, a dual-modal feature fusion network based on a cross-attention mechanism is developed. This network dynamically generates a time-varying mirror ratio coefficient

λ

, which is incorporated into the exoskeleton’s admittance control loop. Combining a trajectory generation algorithm based on dynamic movement primitives (DMPs) with a compliant control strategy incorporating dynamic constraints, the system achieves personalized rehabilitation trajectory planning and safe interaction. Experimental results demonstrate that, compared to traditional mirror therapy, the proposed system exhibits superior performance in bilateral trajectory covariance metrics, the mirror symmetry index, and muscle activation levels.

Keywords: mirror rehabilitation therapy; upper-limb exoskeleton robot; attention mechanism; dynamic movement primitives; admittance control

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MDPI and ACS Style

Chen, J.; Cheng, Z.; Cai, Y.; Zhang, S.; Zhu, C.; Zhang, Y. Robot-Assisted Mirror Rehabilitation for Post-Stroke Upper Limbs: A Personalized Control Strategy. Sensors 2025, 25, 5659. https://doi.org/10.3390/s25185659

AMA Style

Chen J, Cheng Z, Cai Y, Zhang S, Zhu C, Zhang Y. Robot-Assisted Mirror Rehabilitation for Post-Stroke Upper Limbs: A Personalized Control Strategy. Sensors. 2025; 25(18):5659. https://doi.org/10.3390/s25185659

Chicago/Turabian Style

Chen, Jiayue, Zhongjiang Cheng, Yutong Cai, Shisheng Zhang, Chi Zhu, and Yang Zhang. 2025. "Robot-Assisted Mirror Rehabilitation for Post-Stroke Upper Limbs: A Personalized Control Strategy" Sensors 25, no. 18: 5659. https://doi.org/10.3390/s25185659

APA Style

Chen, J., Cheng, Z., Cai, Y., Zhang, S., Zhu, C., & Zhang, Y. (2025). Robot-Assisted Mirror Rehabilitation for Post-Stroke Upper Limbs: A Personalized Control Strategy. Sensors, 25(18), 5659. https://doi.org/10.3390/s25185659

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Robot-Assisted Mirror Rehabilitation for Post-Stroke Upper Limbs: A Personalized Control Strategy

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