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This paper discusses an Internet-based tele-rehabilitation system with Single-Master and Multi-Slaves, which aims to achieve the situation where multiple stay-home patients in scattered places can share rehabilitation instruction from one physical therapist. After the introduction of whole system's concept, ‘ Passive-Active Shift’ rehabilitation is proposed considering the varied symptom of different patients. Then after introduction of master slave system's designing, for passive rehabilitation which is carried through internet-based bilateral teleoperation system by therapist who is necessary, novel control architecture to ensure the stability of tele-rehabilitation system with time delay is proposed. For active rehabilitation, game-based active rehabilitation is proposed to draw the patients' mind into rehabilitation which is important to reestablish neuromuscular control.

AN INTERNERT-BASED TELE-REHABILITATION SYSTEM WITH SINGLE-MASTER AND MULTI-SLAVES