Contact-aware multi-skill learning framework with hybrid force-motion control for stability and force regulation in robotic physiotherapy.

Robot-assisted physiotherapy has attracted increasing attention for its potential to provide repeatable, stable, and controllable physical interaction during rehabilitation-oriented therapy. However, contact-rich physiotherapy tasks remain challenging because the robot must reproduce therapist-demonstrated massage skills while adapting to non-planar and deformable body surfaces, suppressing impact during contact transition, and maintaining stable force regulation. This paper proposes a contact-aware robot-assisted physiotherapy framework that integrates task-space skill generalization, contact state estimation, dynamic velocity adjustment, force-error compensation, and bounded variable impedance control. Therapist-guided demonstrations are encoded using Dynamic Movement Primitives (DMPs) to construct a physiotherapy skill library, enabling typical massage skills, including kneading, patting, pushing, and pressing, to be generalized to new start and goal points in the robot Cartesian task space. During execution, force/torque feedback is used to estimate the contact point and surface normal, update the local task frame, regulate the approach velocity, and compensate for force-tracking errors. Experimental validation was conducted on a silicone abdominal model and in a preliminary healthy-volunteer back physiotherapy test. The results show that the proposed dynamic contact strategy suppresses excessive impact during contact transition, avoiding the 165.86   N peak impact observed under high-speed contact. The force compensation strategy reduces the force-tracking RMSE from 0.835   N to 0.395   N , corresponding to a 52.69 % improvement. In addition, the bounded variable impedance strategy improves motion-force coordination compared with fixed-stiffness control. These results demonstrate that the proposed framework improves contact transition safety, force regulation accuracy, and task adaptability at the control-performance level, providing a feasible basis for further development of robotic physiotherapy systems.