Patients　with　hemiplegia　are　usually　restricted　to　performing　general　bilateral　activities　of　daily　life　(gbADLs).　Bilateral　training　has　been　verified　to　contribute　to　the　rehabilitation　of　physical　functions.　Although　robotic　systems　are　gradually　being　employed　in　the　field　of　rehabilitation,　few　studies　have　performed　simulations　with　regards　to　gbADLs　for　training.　Therefore,　a　novel　end-effector　bilateral　rehabilitation　robotic　system　(EBReRS)　for　the　upper　limb　is　developed　in　this　article　for　the　task　rendering　of　gbADLs,　in　which　the　gbADL-corresponding　workspace　is　obtained　via　modularly　designed　bilateral　parallelogram　mechanisms.　In　addition,　the　interaction　rendering　of　multiple　bimanual　modes　(uncoupled,　trans-soft-coupled,　trans-semi-coupled,　and　rotation-coupled)　is　achieved　by　implementing　the　admittance　model,　the　inner　force　field　between　robotic　end-effectors,　and　the　outer　force　field　distributed　around.　Experiments　of　the　proposed　four　rehabilitation　training　modes　were　carried　out　on　the　healthy　subject,　with　the　results　showing　a　feasible　method　of　the　EBReRS　in　the　simulation　of　multiple　bimanual　coordinated　rehabilitation　training　tasks.　In　the　future,　the　constructed　EBReRS　is　expected　to　be　exploited　for　home　rehabilitation　as　a　coordinated　training　device.　©　2023　Elsevier　Ltd