A system for calibrating a haptic device for a stroke-affected limb of a stroke patient, the stroke patient having an able limb, the system comprising the haptic device, an interface, at least one sensor and a processor; wherein the haptic device is capable of: being manipulated by the able limb, in response to automated visual/audio instructions provided by the interface to guide the stroke patient in using the able limb to manipulate the haptic device to perform at least one calibration action, wherein the at least one sensor is configured to determine a first position of the haptic device, the first position resultant from the manipulation of the haptic device by the able limb in completing the at least one calibration action; being manipulated by the stroke-affected limb, in response to automated visual/audio instructions provided by the interface to guide the stroke patient in using the stroke-affected limb to manipulate the haptic device to perform the at least one calibration action; wherein the at least one sensor is configured to determine a second position of the haptic device, the second position resultant from the manipulation of the haptic device by the stroke-affected limb in completing the at least one calibration action; and moving, coupled with the stroke-affected limb, from the second position towards the first position until a predetermined counterforce emanating from the stroke-affected limb is detected by the least one sensor, indicating an extreme position for the stroke-affected limb using the haptic device; and wherein the processor is configured to calibrate the haptic device with the extreme position such that during a rehabilitation exercise for the stroke-affected limb, the haptic device is prevented from moving beyond the extreme position, wherein the haptic device is characterized by: being further capable of applying a force which is a function of a motor imagery score of the stroke patient, a limb strength of the stroke-affected limb and a maximum limb strength of the able limb, wherein the force applied by the haptic device is represented by an equation α = − tanh 5 h max h − h max 2 tanh 5 ⁢ m m max, wherein α is the force applied by the haptic device, h is the limb strength of the stroke-affected limb, h max is the maximum limb strength of the able limb, m is the motor imagery score of the stroke patient, and m max is a maximum motor imagery score. being manipulated by the able limb, in response to automated visual/audio instructions provided by the interface to guide the stroke patient in using the able limb to manipulate the haptic device to perform at least one calibration action, wherein the at least one sensor is configured to determine a first position of the haptic device, the first position resultant from the manipulation of the haptic device by the able limb in completing the at least one calibration action; being manipulated by the stroke-affected limb, in response to automated visual/audio instructions provided by the interface to guide the stroke patient in using the stroke-affected limb to manipulate the haptic device to perform the at least one calibration action; wherein the at least one sensor is configured to determine a second position of the haptic device, the second position resultant from the manipulation of the haptic device by the stroke-affected limb in completing the at least one calibration action; and moving, coupled with the stroke-affected limb, from the second position towards the first position until a predetermined counterforce emanating from the stroke-affected limb is detected by the least one sensor, indicating an extreme position for the stroke-affected limb using the haptic device; and wherein the processor is configured to calibrate the haptic device with the extreme position such that during a rehabilitation exercise for the stroke-affected limb, the haptic device is prevented from moving beyond the extreme position, wherein the haptic device is characterized by: being further capable of applying a force which is a function of a motor imagery score of the stroke patient, a limb strength of the stroke-affected limb and a maximum limb strength of the able limb, wherein the force applied by the haptic device is represented by an equation α = − tanh 5 h max h − h max 2 tanh 5 ⁢ m m max, being further capable of applying a force which is a function of a motor imagery score of the stroke patient, a limb strength of the stroke-affected limb and a maximum limb strength of the able limb, wherein the force applied by the haptic device is represented by an equation α = − tanh 5 h max h − h max 2 tanh 5 ⁢ m m max, wherein α is the force applied by the haptic device, h is the limb strength of the stroke-affected limb, h max is the maximum limb strength of the able limb, m is the motor imagery score of the stroke patient, and m max is a maximum motor imagery score.