In this paper, a concept for tele-rehabilitation between the patient and the physical therapist is presented and in order to provide haptic feedback between these two parties, an overview of an impedance controller for a two-part wrist rehabilitation is presented. For checking the output, the implemented control algorithm simulated an arbitrarily designed spring-damper system. in the practical part, the remote implementation of the impedance control algorithm to connect the two robots with a

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... tual spring and damper was also tested. To verify the haptic feedback, the position, velocity, and torque data from both robots were collected and analyzed and remote communication of the two-part robot is enabled by developing a control algorithm.