RehabBot: reinforcement learning environment for upper and lower limb robot-assisted rehabilitation

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dc.contributor.authorOguntosin, Victoria
dc.contributor.authorVázquez, Juan-Ignacio
dc.date.accessioned2026-08-04T07:06:30Z
dc.date.available2026-08-04T07:06:30Z
dc.date.issued2026-09
dc.date.updated2026-08-04T07:06:30Z
dc.description.abstractWe present RehabBot, an open-source simulation environment for reinforcement learning (RL) research in robot-assisted upper- and lower-limb rehabilitation. Built on the MuJoCo physics engine, it integrates a torque-controlled UR5e collaborative manipulator with an articulated humanoid patient model to implement physiotherapy-inspired exercises for the shoulder, elbow, hip, and knee. The platform provides a modular RL-ready API with defined continuous observation and action spaces, task-aligned reward functions with safety constraints, and configurable evaluation scenarios. Exercises are formalized as Markov Decision Processes, ensuring compatibility with standard RL libraries. Validation through representative deep RL algorithms demonstrates stable training behaviour and compatibility with standard pipelines. RehabBot offers an extensible framework for reproducible research at the intersection of robotics, rehabilitation, and learning-based control.en
dc.description.sponsorshipThis work was supported by the Science by Women programme of the Fundacion Mujeres por Africa.en
dc.identifier.citationOguntosin, V., & Vazquez, J.-I. (2026). RehabBot: reinforcement learning environment for upper and lower limb robot-assisted rehabilitation. SoftwareX, 35. https://doi.org/10.1016/J.SOFTX.2026.102800
dc.identifier.doi10.1016/J.SOFTX.2026.102800
dc.identifier.eissn2352-7110
dc.identifier.urihttps://hdl.handle.net/20.500.14454/6457
dc.language.isoeng
dc.publisherElsevier B.V.
dc.rights© 2026 The Authors
dc.subject.otherBenchmarking framework
dc.subject.otherLimb rehabilitation
dc.subject.otherMuJoCo
dc.subject.otherRehabilitation robotics
dc.subject.otherReinforcement learning
dc.subject.otherSimulation environment
dc.titleRehabBot: reinforcement learning environment for upper and lower limb robot-assisted rehabilitationen
dc.typejournal article
dcterms.accessRightsopen access
oaire.citation.titleSoftwareX
oaire.citation.volume35
oaire.licenseConditionhttps://creativecommons.org/licenses/by/4.0/
oaire.versionVoR
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