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Virtual Interaction Between Patients and Occupational Therapists Using an Assistive Robotic Device With Cyber-Physical System

In this paper, we propose to design, develop, and study a cyber-physical system that enables patients and therapists to virtually interact for rehabilitation activities with assistive robotic devices. The targeted users of this system are post-stroke patients. On the patient’s side, an assistive robotic device can generate the force that the therapist applies to the patient. On the therapist’s side, another robotic device can reproduce the responsive force generated by the patient. With this system, the interaction can be virtually established. In addition, by integrating real human trajectories, the proposed assistive robotic system can help patients to perform rehabilitation activities in their own pace. Such an assistive robotic system and virtual interacting scheme can minimize both patient’s and therapist’s traveling time. The assistive functions of this light weight design can also help patients to in their ADLs.