Planar conformity of movements in 3D reaching tasks for persons with Multiple Sclerosis.

Robotic rehabilitation of the upper limb has been proved beneficial for people with Multiple Sclerosis (MS). In order to provide task-specific therapy for MS, given its complex impairing nature, it is desired to take advantage of the robots' ability to move and provide force feedback in generic three-dimensional motions. Previous investigations have shown that hand motion during reaching tasks is piecewise planar, therefore, it is possible to simplify the design of robotic rehabilitation trajectories by confining them on planes oriented in space.