This paper presents a novel upper limb rehabilitation robot system based on virtual reality as many benefits of robots involved in upper limb rehabilitation for stroke are found out. The system has advantages of small size, less weight and interaction in rehabilitation. This system mainly consists of a haptic device called PHANTOM Premium, the upper limb exoskeleton rehabilitation device (ULERD) and a virtual reality environment. The impaired hand wears the ULERD, so the therapist can control and move the injured hand by PHANTOM Premium in tele-operation. With description of the system, the realization of virtual reality environment is implemented, which can potentially motivate patients to exercise for longer periods of time. Not only virtual images but also position and force information are sent to the doctors. This system aims to develop a light and interactive upper limb rehabilitation robot system which allows rehabilitation stations to be placed in a patient's home. And some exercise parameters evaluate the performance of patients. Experiment has been conducted to prove that it is accurate and convenient in the rehabilitation process. The development of this system can be a promising approach for further research in the field of tele-rehablitation science.
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