| Summary: | Stroke patients often suffer from some sort of impairment in some parts of their bodies. Many of the patients then undergo rehabilitation to improve their impaired situation. Research in robot-assisted therapy to improve and enhance the recovery of stroke patients have been on-going and is on the rise. H-Man, a 2D planar manipulandum is one of the robot-assisted therapy which is currently used as a clinical trial in Singapore Tan Tock Seng Hospital. It was made to assist stroke patients with upper limb disabilities. H-Man is an economical, light-weight and control-friendly robotic rehabilitation device which targets to enhance affordability and accessibility of rehabilitation therapy. Currently, H-Man is in its fully developed stage. The current H-Man comes in only one handle, per H-Man which only allows one patient or one hand to undergo rehabilitation at once. This report has investigated and demonstrated that bi-manual implementation of H-Man through haptics via a virtual spring maybe implemented in the near future. This report presents the discussion and evaluation of the bi-manual set-up of the H-man.
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