... 3G9, Canada, 2Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2, Canada, 3Department of Occupational Science and Occupational Therapy, University of Toronto, Toronto, ONT, M5G 1V7, ... robot'smotion correlate to user movements. For example, oneDoF could correspond with the shoulder traversal move-ment and another DoF can correspond to shoulder flex-ion/extension. Moreover, ... motor drove a belt and two gear system to translate rotational motion to linear motion of the end-effector. Another motor located at the elbow of the deviceactuated the swing of the robotic arm,...