Transformer-Based Approach for Predicting Transactive Energy in Neurorehabilitation.

Advancements in robotic neurorehabilitation have made it imperative to enhance the safety and personalization of physical human-robot interactions (pHRI). Estimation and management of energy transfer between humans and robots is essential for enhancing safety during the rehabilitation. Traditional control methods, which rely on coordinate-based monitoring of robot velocity and external forces, often fail in unstructured environments due to their susceptibility to sensor noise and limited adaptability to individual patient needs.