{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T05:52:12Z","timestamp":1791525132907,"version":"4.3.4"},"reference-count":35,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T00:00:00Z","timestamp":1791504000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Digit. Health"],"abstract":"<jats:sec>\n                    <jats:title>Introduction<\/jats:title>\n                    <jats:p>Post-stroke rehabilitation increasingly requires technologies capable of supporting intensive, measurable, and adaptable interventions while preserving clinical supervision and patient safety. This study presents a lightweight, safety-aware, and modular multimodal robotic pipeline for embodied human\u2013robot interaction in post-stroke rehabilitation, with a first target application in hemispatial inattention.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>The system was implemented on the TIAGo mobile manipulator within a ROS 2-based architecture and integrates therapist-mediated supervision, speech-based and graphical interaction, head-orientation monitoring, adaptive auditory recall, robot-mediated and screen-based task delivery, and structured performance logging. Dialogue management is based on a deterministic finite-state machine coupled with a rule-based Natural Language Understanding pipeline, enabling predictable interaction handling, explicit fallback behavior, and therapist escalation for safety-relevant events. A preliminary preclinical evaluation was conducted in 16 healthy participants, with a repeated acquisition after 1 month. The study assessed operational feasibility, multimodal interaction robustness, head-orientation monitoring stability, task execution, ASR-related interaction events, usability, acceptance, and 1-month reproducibility of workflow execution.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>All participants completed both acquisitions without adverse events or safety-relevant events requiring interruption of the experimental workflow. End-effector recognition accuracy remained high, attention-recall events were infrequent, screen-based visual tasks were successfully administered and logged, and usability and acceptance outcomes were favorable, with low anxiety toward the robotic platform.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Discussion<\/jats:title>\n                    <jats:p>These findings support the feasibility of using a therapist-supervised robotic platform as an integrated tool for structured interaction, head-orientation monitoring, rehabilitation-oriented task delivery, and quantitative logging. The study presents a preclinical evaluation of system architecture, safety-aware interaction design, and workflow robustness. Future work is organized in two stages: a dedicated acceptance and robustness protocol in healthy controls to formally test interaction acceptance, speech-recognition robustness, and safety-relevant failure handling, followed by a true rehabilitation protocol in post-stroke patients with hemispatial inattention, including therapist-supervised exercise adaptation.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.3389\/fdgth.2026.1951309","type":"journal-article","created":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T05:35:16Z","timestamp":1791524116000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Preclinical evaluation of a safety-aware multimodal robotic pipeline for human\u2013robot interaction in post-stroke rehabilitation"],"prefix":"10.3389","volume":"8","author":[{"given":"Bruna Maria Vittoria","family":"Guerra","sequence":"first","affiliation":[{"name":"Bioengineering Laboratory, Department of 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