Development of a Robotic System for Bilateral Telerehabilitation

The This paper presents the development of a robotic telerehabilitation system and a set of computer games for robot-aided therapy in a bilateral configuration. The aim here is to create a suitable framework where two or more patients, each one working with a robot, can interact not only visually, through the game screen, in an interactive configuration, but also physically, through direct reflection of the forces applied by the patients, in a cooperative configuration. To ensure system stability in the cooperative configuration, robotic teleoperation techniques are implemented and evaluated. Experimental results obtained from the robotic telerehabilitation system adapted to work with the lower extremity robot Anklebot are presented.