The interest of the scientific community in medical Robotics and rehabilitation Robotics is growing every year. Rehabilitation Robotics aims to apply robotic technology (sensors, actuators, control) to the rehabilitation and assistance of disabled people. Only some years ago developers were able to implement viable robotic systems to assist a person with a functional limitation. Thus, devices have been developed to assist mobility and the motor functions of the arms and legs, among others. Tremor is a movement disorder that has a great impact on the quality of life of people who suffer it, mainly to do specific tasks (Rocon et al., 2004). It can affect the head, face, jaw, voice or the upper and lower extremities. In particular, tremor that affects the upper limbs is of major interest, since it can be very disabling to lead an independent life. It is a symptom associated with some abnormal neurological condition or cerebral lesions and degenerative diseases, including Parkinson’s disease, essential tremor, orthostatic tremor, cerebellar diseases, ethylic intoxication, among others.

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