# Roboethics in Remote Human Interactions and Rehabilitative Therapeutics
## 5 iManus for Remote Rehabilitation and Learning  
### iManus Platform  
iManus [29] is a comprehensive, yet portable and easy-to-use platform that provides a wide range of supervised rehabilitation practice for those with upper limb disabilities after brain injury, such as stroke, Parkinson's Disease, or Multiple Sclerosis. In other words, iManus is a portable hand tele-rehabilitation platform that constructs a non-expensive, effective, and continuous relationship between the patient and the therapist, to provide the best conditions for the patient to get back to his/her normal capabilities, as soon, and as much, as possible. In the following, we provide a technical description of the platform and its components and explain the strategy, logic, and functionality behind its operational schemes. The platform consists of the following elements: a pair of sensorized smart gloves, a mobile app for the patient, a desktop interface for the therapist, and a cloud-based communication and storage software incorporated into all the components. Figure 1 presents a schematic of the platform and its components. The philosophy behind the pair of smart gloves is that the best criterion to measure the quality of motion and acceptance level of practice is the normal and healthy body of the actual patient. The patient wears a glove on both healthy and impaired hands so that the target performance is personalized. When the patient performs a task, the healthy hand motion is recorded as the reference/target motion, which is patient specific. The glove is passively actuated with rubber band tensioners with different levels of elasticity, to help users regain control over their impaired hands when extending their fingers. To capture different kinematic and dynamic features of hand motion, the gloves are equipped with two types of sensory systems, which enable the platform to precisely capture and calculate all the key performance indicators (KPI) of each practice. This allows the rehab expert to gauge the user's performance metrics. Each sensory system includes five flex sensors that measure the angle of each finger and one inertial measurement unit (IMU) that measures metrics of the palm section of the hand motion. There is compact hardware embedded inside the smart gloves which is connected to a set of flexible sensors located on the finger holder section of the gloves. The flexible sensors are resistance-based and measure the range of motion of each finger by translating the voltage levels (0 V-3.3 V) to the angles when a rehabilitation task is conducted. The hardware is also equipped with a 9-axis IMU module for measuring the rotations of the wrist, in terms of Euler Angles, and translating the roll, pitch, and yaw into supination, pronation, flexion, extension, unhar deviation, and radial deviation movements. The acceleration data taken from the IMU sensor are also used for measuring the level of the shakiness of the patient's hand. A cross-platform mobile app is also provided, which is compatible with both iOS and Android smartphones, as shown in Figure 2. When the patient opens the mobile app and wears the gloves, the sensory system and the mobile app are wirelessly connected using the Bluetooth Low Energy (BLE) communication protocol, where the hardware processing unit acts as the peripheral, and the mobile app is the central. As such, all the sensory data (including IMU's accelerations, gyro, and quaternion values and flex sensors' raw data) are wirelessly transferred to the mobile app while the patient is conducting a task. The patient can then record both video and audio of the rehab task, while the task KPIs can be automatically saved in the cloud system as well. The system is designed to perform a scientific analysis of the patient's performance KPIs and provide this to the therapist. The KPIs, along with the video/audio files, are accessible for both the patient and the therapist.