The ADLER therapy environment. Left: The ADLER therapy environment consisting of a chair on rails that is pulled up to an activity table. The chair has a built in trunk restraint to isolate arm movement. The patient interacts with the system by way of an orthosis that is attached to the gimbal (end effector) of ADLER. ADLER is a 6 degree of freedom (3 active, 3 passive) robot. Right: ADLER operating in a functional task environment as the subject reaches to a bottle of water.