{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T10:01:03Z","timestamp":1780912863255,"version":"3.54.1"},"reference-count":29,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2015,5,19]],"date-time":"2015-05-19T00:00:00Z","timestamp":1431993600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Many stroke patients are expected to rehabilitate at home, which limits their access to proper rehabilitation equipment, treatment, or assessment by therapists. We have developed a novel telerehabilitation system that incorporates a human-upper-limb-like device and an exoskeleton device. The system is designed to provide the feeling of real therapist\u2013patient contact via telerehabilitation. We applied the principle of a series elastic actuator to both the master and slave devices. On the master side, the therapist can operate the device in a rehabilitation center. When performing passive training, the master device can detect the therapist\u2019s motion while controlling the deflection of elastic elements to near-zero, and the patient can receive the motion via the exoskeleton device. When performing active training, the design of the force-sensing mechanism in the master device can detect the assisting force added by the therapist. The force-sensing mechanism also allows force detection with an angle sensor. Patients\u2019 safety is guaranteed by monitoring the motor\u2019s current from the exoskeleton device. To compensate for any possible time delay or data loss, a torque-limiter mechanism was also designed in the exoskeleton device for patients\u2019 safety. Finally, we successfully performed a system performance test for passive training with transmission control protocol\/internet protocol communication.<\/jats:p>","DOI":"10.3390\/s150511511","type":"journal-article","created":{"date-parts":[[2015,5,19]],"date-time":"2015-05-19T10:35:57Z","timestamp":1432031757000},"page":"11511-11527","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":57,"title":["Design of a Novel Telerehabilitation System with a  Force-Sensing Mechanism"],"prefix":"10.3390","volume":"15","author":[{"given":"Songyuan","family":"Zhang","sequence":"first","affiliation":[{"name":"Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu,  Kagawa 761-0396, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuxiang","family":"Guo","sequence":"additional","affiliation":[{"name":"The Institute of Advanced Biomedical Engineering System, School of Life Science and Technology, Key Laboratory of Convergence Medical Engineering System and Healthcare Technology,  The Ministry of Industry and Information Technology, Beijing Institute of Technology,  Haidian District, Beijing 100081, China"},{"name":"Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Baofeng","family":"Gao","sequence":"additional","affiliation":[{"name":"The Institute of Advanced Biomedical Engineering System, School of Life Science and Technology, Key Laboratory of Convergence Medical Engineering System and Healthcare Technology,  The Ministry of Industry and Information Technology, Beijing Institute of Technology,  Haidian District, Beijing 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hideyuki","family":"Hirata","sequence":"additional","affiliation":[{"name":"Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hidenori","family":"Ishihara","sequence":"additional","affiliation":[{"name":"Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa 761-0396, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2015,5,19]]},"reference":[{"key":"ref_1","first-page":"e46","article-title":"Heart disease and stroke statistics\u20132010 update: A report from the American Heart Association","volume":"121","author":"Adams","year":"2010","journal-title":"Circulation"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"915","DOI":"10.1016\/S0003-9993(02)04954-7","article-title":"Robot-assisted arm trainer for the passive and active practice of bilateral forearm and wrist movement in hemiparetic subjects","volume":"84","author":"Hesse","year":"2003","journal-title":"Arch. 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