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A subject with stroke using the ReHapticKnob. The ReHapticKnob is a haptic device used to train hand opening-closing and forearm pronosupination. The device integrates a set of 7 therapy exercises reproducing typical neurocognitive exercises [29]. In the present exercise, the compliance of different virtual sponges rendered by the device has to be memorized and identified by relying on hand somatosensory inputs during active interaction with the device
