Disabilities after neural injury, such as stroke, bring tremendous burden to patients, families and society. Besides the conventional constrained-induced training with a paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fitting well with the fact that both arms are needed in common activities of daily living (ADLs), and can promote good functional recovery. In this work, the fusion of a gesture sensor and a haptic sensor with force feedback capabilities has enabled a bilateral rehabilitation training therapy. The Leap Motion gesture sensor detects the motion of the healthy hand, and the omega.7 device can detect and assist the paretic hand, according to the designed cooperative task paradigm, as much as needed, with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data facilitate instantaneous visual and audio feedback, as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm recruits the sensory, motor and cognitive aspects of the patient into one loop, encourages the active involvement of the patients into rehabilitation training, strengthens the cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy of use at home or centralized institutions and, thus, promises effective potentials for rehabilitation training.

Disabilities after neural injury such as stroke bring tremendous burden to the patients, families and society. Besides the conventional constrained-induced training with the paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fits well the fact that both arms are needed in common activities of daily living (ADLs), and can promote good functional recovery. In this work, a bilateral rehabilitation training method is proposed and implemented with the Leap Motion sensor and omega.7 haptic interface. The Leap Motion sensor detects the motion of the healthy hand, and the omega.7 device, according to the cooperative task paradigm, assists the paretic hand as much as needed with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data enables visual and audio feedback in real time as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm encourages active involvement of the patients into rehabilitation, strengthens cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy home use, and thus, promises effective rehabilitation therapy.