Figure 2From: Potential of a suite of robot/computer-assisted motivating systems for personalized, home-based, stroke rehabilitationJoystick Systems. Conventional Joystick (a) and TheraJoy version 3: Horizontal (bt) and Vertical (c) The vertical linkage system attaches to the horizontal joystick with a ball and socket joint, and a fixed vertical post with a pin and sliding jointBack to article page