Task-oriented, repetitive and intensive arm training can enhance arm rehabilitation in
patients with paralyzed upper extremities due to lesions of the central nervous system. There
is evidence that the training duration is a key factor for the therapy progress. Robot-
supported therapy can improve the rehabilitation allowing more intensive training. This
paper presents the kinematics, the control and the therapy modes of the arm therapy robot
ARMin. It is a haptic display with semi-exoskeleton kinematics with four active and two …