Abstract
This paper discusses an Internet-based tele-rehabilitation system with Single-Master and Mufti-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.
