Development of a tele-rehabilitation system using an upper limb assistive device

Eiichiro Tanaka, Wei Liang Lian, Yun Ting Liao, Hao Yang, Li Ning Li, Hee Hyol Lee, Megumi Shimodozono

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


A tele-rehabilitation system that can achieve remote interaction between a physical therapist (PT) and a patient was developed. Patients need to execute rehabilitation exercises to maintain upper limb function. However, it is difficult for them to travel to hospitals without aid. This system is equipped with a PC and a Kinect sensor at the hospital side (i.e., the PT), and a PC and an upper limb assistive device in the patient’s home. The PT displays the motion in front of a Kinect sensor, which identifies the motion. In addition, the device on the home side assists the motion of the patient using the Internet. When the device receives a force higher than the safety value from the patient at any particular point on it, vibrators at the corresponding point on the PT’s arm start to vibrate. Thereby, the PT can identify the patient’s condition and limitations. The time delays in the transmission of data of device motion and the vibrators were measured and compared. As a result, the PT could identify the patient’s condition faster than the motion of the device.

Original languageEnglish
Pages (from-to)877-886
Number of pages10
JournalJournal of Robotics and Mechatronics
Issue number4
Publication statusPublished - 2021 Aug


  • Data transmission
  • Kinect sensor
  • Motion feedback
  • Tele-rehabilitation
  • Upper-limb assistance

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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