The wide vision of the workshop is of interest to students and researchers having some background in robotics, biomechanics, physiology, signal processing or pattern recognition and interest or some experience in rehabilitation robots and assistive technology. It is also aimed at constituting basic educational material (that will be distributed to the audience during the workshop) to introduce medical personnel or other specialists to the capabilities of such robotic systems. Rather than being a collection of topics, the workshop is carefully structured in a way that the consecutive sessions allow the attendee to perceive the context, requirements and get a view of current solutions and future trends in such an exciting field.