The existing shortage of therapists and caregivers assisting physically disabled individuals
at home is expected to increase and become serious problem in the near future. The patient
population needing physical rehabilitation of the upper extremity is also constantly
increasing. Robotic devices have the potential to address this problem as noted by the
results of recent research studies. However, the availability of these devices in clinical
settings is limited, leaving plenty of room for improvement. The purpose of this paper is to …