ABSTRACT
This chapter presents a detailed discussion of: the main principles of human–robot interaction (HRI) applied to the development and implementation of rehabilitation robots; the corresponding metrics that measure the effects of the HRI principles; and HRI studies that directly investigate the metrics and principles. HRI research focuses on "human-centered design" with the aim of developing for humans systems that are effective, easy to use, and acceptable. The six main HRI principles that should be considered when designing, implementing, and evaluating rehabilitation robotic systems are: level of robot autonomy; HRI interface; interaction structure; adaptation, training, and learning; aesthetics; and length of exposure. Some of these principles have been adapted from the work of Goodrich and Schultz. The chapter discusses the application of design principles to the field of rehabilitation robotics. It discusses each design principle and provides examples of their application to rehabilitation robots.
