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 interfa
ce and the most widely used in this field. The second, MUSIIC, explore
s methods for direct manipulation of objects. RoboGlyph uses symbolic
constructs to assist with the direction and programming of rehabilitat
ion robots and finally a multi-tasking operating executive is discusse
d that controls a bilateral head operated telerobot. These four implem
entations reflect a wide range of interface concepts for the intended
users.