the therapist to adapt the training program to the user's needs and recovery level. The telerehabilitation software is a web-based platform that can be run under different browsers, and a standalone version for Windows has also been created for offline situations. In both cases, the platform has been designed to be used with touchscreens to avoid external peripherals and simplify the user experience. Games use data transmitted from the robotic system, which are transferred from the robotic module via Bluetooth. The connection between the two is made only just before initiating gameplay to avoid the inadvertent capture of movement data generated by the user/therapist during system setup. TRAINING CONFIGURATION The training for each person can be remotely configured by the therapist. The health professionals can assign a therapeutic plan of games and movements needed by the user. The user receives a daily list of the planned activities and executes the games consecutively until the training for that day is completed. The therapist has access to each user's training information to monitor the evolution. For each game, a graphical evolution of the scores and performance indicators is provided. Health professionals also have access to the schedule of upcoming assignments and the tasks performed by the user to monitor rehabilitation progress and make adjustments when needed. AA ASSESSMENT GAMES The AA Assessment (AAA) games provide an automatic and quantitative evaluation of arm and hand function. The AAA has been demonstrated to be statistically correlated with each of the three most significant standard clinical assessment tests: the Fugl-Meyer assessment, the Action Research Arm Test, and the Wolf Motor Function Test [17]. The AAA games must be performed by the user at least once at the beginning to configure and adapt the training games. However, periodic reassessment is recommended to recalculate baseline values and properly adjust them as the user progresses. The results of the AAA games include the maximum range of motion (ROM) and interaction force to ensure that the training games are properly adapted to the functional abilities of the user. The AAA games include the following main assessments: ■ The active ROM assessment allows the user's planar movement to set the ROM limits for all training games. The starting point is highlighted, and the user is asked to move along the indicated sector as far as possible without torso compensation to determine the maximum ROM in each direction [Figure 5(a)]. ■ The range of vertical force (ROF) assessment measures the capacity of the user to perform an MARCH 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE 67 RJ 1 RJ 2 LJ 1 LJ 3 Locking Screw Pad for Fingers Elastic Band Band With Soft Foam RJ 3 RJ 4 Locking Assembly (a) Housing for PCB (b) (c) FIGURE 4. The right-hand module: structure and core components. (a) The view from the top of the hand. (b) The view from the palm. (c) Detached views of the four fingers and thumb pads showing the location of the force-sensitive resistor (FSR) sensors. LJ: linear joint (red arrow); RJ: blue arrow; LJ1: thumb fore-aft position; LJ2: finger metacarpophalangeal-proximal interphalangeal (MCP-PIP) distance; LJ3: thumb opposition angle. Pad of Thumb Module Four Fingers Module LJ 2 Thumb Module LJ 1 Pad of Four Fingers Module FSR Sensors