The objective of this work package is to develop a wrist-and-hand therapy device for neurologically impaired limbs. Optimal results will be achieved with a device design which inherently does not impede natural or remaining motion of the wrist and hand, and only supports it where needed. This requires a thorough understanding of the kinematic movements of both healthy limbs and limbs affected by chronic disuse. Keeping the costs low helps to make it suitable for home-based training for a large group of patients. Using only passive actuation (for instance through the use of springs) increases the inherent safety of the device. To use this device in a wide range of functional exercises, it will be mounted on top of one of the commercially available low-cost forearm weight support devices, such that the wrist and hand can be exercised with tasks resembling activities of daily living.