The machine above was designed to accurately offset the angle-dependent stiffness measured in the wrist of a stroke victim suffering from spasticity. Those suffering from this condition have a difficult time controlling the angle of their wrist, which tends to settle at the extremes of flexion. In the video above, the patient’s wrist is able to position at various angles without moving to flexion. This work was part of the master’s thesis of Derek Bissell. The intent of the machine was to allow oscillating movements for exercise.