{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,17]],"date-time":"2026-10-17T08:16:58Z","timestamp":1792225018791,"version":"4.4.0"},"reference-count":40,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T00:00:00Z","timestamp":1757548800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Natural Science Foundation of Top Talent of SZTU","award":["GDRC202328"],"award-info":[{"award-number":["GDRC202328"]}]},{"name":"Natural Science Foundation of Top Talent of SZTU","award":["2024YFB4709900"],"award-info":[{"award-number":["2024YFB4709900"]}]},{"DOI":"10.13039\/501100012166","name":"National Key R&amp;D Program of China","doi-asserted-by":"publisher","award":["GDRC202328"],"award-info":[{"award-number":["GDRC202328"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key R&amp;D Program of China","doi-asserted-by":"publisher","award":["2024YFB4709900"],"award-info":[{"award-number":["2024YFB4709900"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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 \u03bb, which is incorporated into the exoskeleton\u2019s 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.<\/jats:p>","DOI":"10.3390\/s25185659","type":"journal-article","created":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T08:55:02Z","timestamp":1757580902000},"page":"5659","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Robot-Assisted Mirror Rehabilitation for Post-Stroke Upper Limbs: A Personalized Control Strategy"],"prefix":"10.3390","volume":"25","author":[{"given":"Jiayue","family":"Chen","sequence":"first","affiliation":[{"name":"Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhongjiang","family":"Cheng","sequence":"additional","affiliation":[{"name":"Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yutong","family":"Cai","sequence":"additional","affiliation":[{"name":"Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2072-9961","authenticated-orcid":false,"given":"Shisheng","family":"Zhang","sequence":"additional","affiliation":[{"name":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chi","family":"Zhu","sequence":"additional","affiliation":[{"name":"Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-6523-9153","authenticated-orcid":false,"given":"Yang","family":"Zhang","sequence":"additional","affiliation":[{"name":"Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,9,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"325","DOI":"10.1589\/rika.20.325","article-title":"Motor Abilities in Patients with Osteoarthritis of the Spine and Hemiplegia after Stroke","volume":"20","author":"Miyabara","year":"2005","journal-title":"Rigakuryoho Kagaku"},{"key":"ref_2","first-page":"2006","article-title":"Global estimates of the need for rehabilitation based on the Global Burden of Disease study 2019: A systematic analysis for the Global Burden of Disease Study 2019","volume":"397","author":"Cieza","year":"2021","journal-title":"Lancet"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1401","DOI":"10.1109\/TNSRE.2022.3175224","article-title":"Soft, Lightweight Wearable Robots to Support the Upper Limb in Activities of Daily Living: A Feasibility Study on Chronic Stroke Patients","volume":"30","author":"Noronha","year":"2022","journal-title":"IEEE Trans. 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