"Robots can be used to improve reaching performance in the stroke survivor. Specialized robotic devices combined with computer-displays can tirelessly exert force, augment feedback, and redirect error in order to speed up, enhance, or trigger the motor relearning process." The WAM is listed in Guiness as the world's most complicated robot. Its breakthrough cable drive is the basis for the popular Phantom Robot. At the Rehab Institute I was given the job of developing pro¬grams for the WAM to be used in Human Motion Control and Stroke research.