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Physical therapy (PT) is a key component of many rehabilitation regimens,such as treatments for Parkinson's disease (PD). However, there are shortagesof physical therapists and adherence to self-guided PT is low. Robots have thepotential to support physical therapists and increase adherence to self-guidedPT, but prior robotic systems have been large and immobile, which can be abarrier to use in homes and clinics. We present Stretch with Stretch (SWS), anovel robotic system for leading stretching exercise games for older adultswith PD. SWS consists of a compact and lightweight mobile manipulator (HelloRobot Stretch RE1) that visually and verbally guides users through PTexercises. The robot's soft end effector serves as a target that usersrepetitively reach towards and press with a hand, foot, or knee. For eachexercise, target locations are customized for the individual via a visuallyestimated kinematic model, a haptically estimated range of motion, and theperson's exercise performance. The system includes sound effects and verbalfeedback from the robot to keep users engaged throughout a session and augmentphysical exercise with cognitive exercise. We conducted a user study for whichpeople with PD (n=10) performed 6 exercises with the system. Participantsperceived the SWS to be useful and easy to use. They also reported mild tomoderate perceived exertion (RPE).

Stretch with Stretch: Physical Therapy Exercise Games Led by a Mobile Manipulator