MUCKI is a mechatronic avatar for human upper extremities. It is used to perform mobilization exercises remotely. This is possible using bi-directional force-feedback between task-spaces and assistance of the human digital twin for visualization of muscle activity.
Telerehabilitation with MUCKI is a highly specialized application based on teleoperation technology developed in the Geriatronics project. The connection between the leader (MUCKI) and follower (GARMI) systems allows for responsive and high-precision position-based control of the follower while transmitting force feedback measured at the follower back to the leader (bi-directional haptic teleoperation). The transparency of the setup is further enhanced through the use of bi-directional video/audio communication channels.