Internet-based Tele-rehabilitatioon System --Bilateral Tele-control with Variable Time Delay

This paper discussed an Internet-based telerehabilitation sharing system, which aims to achieve the situation where multiple stay home patients in different places can share rehabilitation instruction of one physical therapist at the same time. After the introduction, three main problems are described in this paper. Firstly the stability problem of the master-slave system with variable time delay which is the biggest problem of the tele-control system is focused on, the time delay and its effect to the system is described and the control architecture is proposed; then the operation method of the whole system with single-master and multi-slave is described; After that, the wound-tube actuator and tail-wrist which will be used as slave in the tele-rehabilitation system is introduced