There is a wide diversity in the functioning and programming of robots designed and programmed to assist individuals with disabilities. The planning and structure of four rehabilitation robot implementations is presented. The first is the CURL language developed for human interface and the most widely used in this field. The second, MUSIIC, explores methods for direct manipulation of objects. RoboGlyph uses symbolic constructs to assist with the direction and programming of rehabilitation robots and finally a multi-tasking operating executive is discussed that controls a bilateral head operated telerobot. These four implementations reflect a wide range of interface concepts for the intended users.
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