The activities carried out during the last two months (M5-M6) can be summarized as follows:

 - Evaluation of different techniques to reconstruct human arm kinematics. Identification of the most suitable for MAAT purposes.

 - Definition of a setup for patient physiological state analysis. Planning of tests to evaluate its performances.

 - Evaluation of a vibrotactile stimulation system to increase patient motivation.

 - Definition of a new controller grounded on a submovement-based trajectory planner that allows adapting the interaction force to the patient residual abilities and a PD torque control.

 - Progress on the development of the immersive virtual reality system.

 - Publications in international journals and conferences can be found in the public web site of the MAAT project (http://hal.umh.es/maat/Publications.html). Dissemination activities have been promoted also by means of the organization of one workshop and one journal special issue.