Robotic devices are excellent candidates for delivering repetitive and intensive practice that can restore functional use of the upper limbs, even years after a stroke. Rehabilitation of the wrist and hand in particular are critical for recovery of function, since hands are the primary interface with the world.  However, robotic devices that focus on hand rehabilitation are limited due to excessive cost, complexity, or limited functionality. A design and control strategy for such devices that bridges this gap is critical.

Interfaces and strategies for the teleoperation of bipedal humanoid robots, which otherwise hold great potential in industrial, space exploration, and military application, are currently under-researched.