A Haptic Bilateral Robots System for Wrist Rehabilitation after Stroke

Rehabilitation is needed for the patients with upper limb paralysis after a cerebrovascular disease. Many studies showed bilateral rehabilitation system is more effective than unilateral training. In this paper, we use two haptic robots and a visual reality system to design a haptic bilateral rehabilitation system. We propose a novel bilateral control scheme, in which the virtual forces are provided by the interaction in the virtual environment. The interaction through a friendly visual interface during the execution of the training helps to make immersive, entertaining and bearable therapy process.