@article {Reinkensmeyer:1 January 2001:0169-1864:625,
	author = "Reinkensmeyer, David J.",
	author = "Takahashi, Craig D.",
	author = "Timoszyk, Wojciech K.",
	author = "Reinkensmeyer, Andrea N.",
	author = "Kahn, Leonard E.",
	title = "Design of robot assistance for arm movement therapy following stroke",
	journal = "Advanced Robotics",
	volume = "14",
	year = "1 January 2001",
	abstract = "This paper describes the mechanical and control design of a robotic device for providing therapeutic assistance to arm movement following stroke. The device uses a single motor and a passively oriented linear constraint to allow patients to reach across their workspace. Experimental evaluation of two controllers for assisting in reaching is presented.",
	pages = "625-637(13)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2001/00000014/00000007/art00006"
	doi = "doi:10.1163/156855301742058"
}