-       Design and development of a bio-cooperative controller:

• Two different interaction control laws were developed.
• The immersive virtual reality system was completed, with adjustable level of task difficulty.
• The module for the online modulation of the interaction control and the immersive virtual reality system was implemented.

-       Hardware and software integration: Two MAAT prototypes were assembled (at UCBM and UMH, respectively) and preliminary experimental tests were carried out.

-       Experimental validation is being carried out on healthy subjects. Also preliminary validation tests on post-stroke subjects are being carried out.

-       Dissemination activities have been promoted by means of publications.

-       Delivery of the documents for the Ethical Committee approval.

-       In order to update robot behaviour according to the patient state, two main control strategies have been evaluated by the partners.

-       Integration and synchronization of the equipment for the simultaneous acquisition of the monitoring systems and the online processing of the collected data.

-       A meeting will take place in April at UMH, in order to verify the correct functioning mode of each subsystem of the multimodal interface and integrate them.

-       Dissemination activities have been promoted by means of the publications.

The activities carried out during the last months are summarized as follows:

-       Validation tests execution of the final version of the method for reconstructing the upper limb kinematics.

-       Adaptation of fuzzy logic rules to therapies assisted by a 7 dof robotic device based on PRL modules

-       More experiments have been carried out to validate the multimodal robot-assisted rehabilitation system.

-       Reliability and stability trials for testing the impedance control embedded on KUKA Light Weight Robot

-       A 3D model of the upper extremity has been included in the virtual reality software.

-       A plenary meeting of MAAT team will take place from 6^th to 10^th February.

The activities carried out during the last months are summarized as follows:
-    Validation tests of two methods for upper limb kinematics reconstruction are being carried out.
-    Adaptive algorithms for intelligent machine learning are the basis for our multimodal rehabilitation system that automatically adapts the delivered therapy to the specific needs and demands of the patient.
-    Multimodal feedback modalities (visual, acoustic, haptic and vibrotactile feedback) has been implemented in the multimodal robot-assisted rehabilitation system.
-    UCBM is currently implementing on LWR the submovement-based control approach.
-    A virtual reality software has been developed with adjustable level of task difficulty that can be adjusted as a function of the evolution of the subject.
-    A plenary meeting of MAAT team is being planned for January 2012.

The activities carried out during the last month are summarized as follows:

-          Finalization and validation tests planning of the upper limb kinematics reconstruction algorithm.

-          Testing algorithms to analyze physiological state using the information provided by the measurement of human bio-signals during the execution of virtual activities of daily living (ADL) assisted by a robotic device.

-          Finalization and validation of the vibrotactile stimulation system.

-          Implementation of the submovement-based control strategy on the MIT-Manus robot at UCBM.

-          Implementation of autoadaptive and immersive virtual reality system.