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Home rehabilitation is much in need in ageing societies. Especially, for hemiplegia patients who have paralysis at fingers, it is known that long continuous rehabilitation is effective for recovery. To automate home rehabilitation without the help of a medical specialist, it is desirable not only to provide a rehabilitation procedure but also to give the condition of the paralysis of the patient. In our previous studies, we proposed a robotic device to foster separative voluntary finger liftdoi:10.1109/lifetech.2019.8883977 dblp:conf/lifetech/FurudateOCIM19 fatcat:3krwqp7vnfdcxntmbo44mzlsjy