-       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.