Towards an Architecture for Collaborative Human Robot Interaction in Physiotherapeutic Applications

We present an architecture for collaborative Human Robot Interaction (HRI) in physiotherapeutic applications. Our aim is to improve the therapeutic effect by dynamically adapting the task and increasing the user's trust in the robot. First, we derive a set of social skills to enable collaborative activities in a rehabilitation task. Afterwards, we present specific software modules implementing these skills and integrate them in a software architecture inspired by human cognitive abilities.