This paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads, and their control system. These devices use the jamming phenomena to change the stiffness of their elements and block the hand movement when a vacuum is applied. We present results of our experiments to measure static and dynamic changes in stiffness, which can be used to change the perception of grabbing hard or soft objects. The device, at its current state is capable of resisting forces of up to 7 N with 5 mm displacement and can simulate hardness up to the hardness of a rubber. However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors. Finally, we show an application of the haptic interface in our teleoperation system to provide the

Robots have been recently used as valuable therapeutic devices in numerous studies (especially with children with developmental needs), but their role as more general support for therapists is less well studied. However, as robots become better integrated in therapeutic environments, they will also influence therapists; and if robots are designed correctly, they could positively influence therapists' well-being. Understanding how robots could be used in such a way is especially important as therapists of autistic children (and therapists of mentally disabled people in general) have one of the highest risks of workplace burnout. This paper describes a series of studies conducted to understand therapists' attitudes towards robotic support and to discover what is most needed in such devices; this paper also describes an experimental study of the feasibility of robots playing one of those roles. Through observational studies and a series of ten meetings, with a group of seven therapists of autism, a list of possible roles was created. In a larger questionnaire based study, therapists gave a ranking to various robot roles and functions (a child's behaviour analyser and support in critical/dangerous situations were given the highest priority). Therapists also stated that they expect robots to help them in the workplace, help prepare documentation and make their work more systematic. In a Wizard-of-Oz type experimental study, a robot was used to play a role of "emotional mirror" with seven therapist-child pairs. Study participants stated that a robot was acceptable and was not disturbing, although most did not find it particularly useful. Our conclusions indicate that

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Immersive virtual therapy technology is a new method that uses head-mounted displays for rehabilitation purposes. It offers a realistic experience that puts the user in a virtual reality. This new type of therapy is used in the rehabilitation of stroke patients. Many patients after this disease have complications related to the upper extremities that limit independence in their everyday life, which affects the functioning of society. Conventional neurological rehabilitation can be supplemented by the use of immersive virtual therapy. The system allows patients with upper limb dysfunction to perform a motor and task-oriented training in virtual reality that is individually tailored to their performance. The complete immersion therapy itself is researched and evaluated by medical teams to determine the suitability for rehabilitation of the upper limb after a stroke. The purpose of this article is to provide an overview of the latest research (2019–2022) on immersive virtual reality with head-mounted displays using in rehabilitation of the upper extremities of stroke patients.

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