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In this context, this article proposes a learn\u2010and\u2010replay (LAR) paradigm that consists of two phases: a therapist\u2010in\u2010loop (interactive) phase where the therapist interacts through the haptic teleoperation loop with the patient to perform the cooperative therapy task, and a therapist\u2010out\u2010of\u2010loop (standalone) phase where the therapist's task is played by the patient\u2010side robot in future repetitions. During the interactive phase, the therapist demonstrates impedance during cooperating with the patient. During the standalone phase, the patient\u2010side robot is automatically controlled to mimic the therapist's demonstrated impedance which is learned in the interactive phase. The direct force reflection (DFR) architecture is utilized as the control method for the bilateral telerehabilitation system. Case studies involving 1\u2010degree\u2010of\u2010freedom and 2\u2010degree\u2010of\u2010freedom cooperative manipulation tasks are tested for proof of concept. 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