We are interested in investigating a new approach to robotic therapies wherein the patient would be given manual control over the exercise movements of the therapy.  Through the use of a teleoperated electromechanical robot, the patient could manipulate and assist their impaired limbs with their unaffected limbs.  This project is specifically aimed at rehabilitation for partial spinal cord injured subjects, where the impaired limbs are the legs and the unimpaired limbs are the hands/arms.  The ultimate rehabilitation goals do not involve completely removing the physical therapist from the therapy.  Rather, we propose a marriage of physical therapist expertise, robotic automation, and self-directed subject control over assistance in the rehabilitation process and training.  As a first step towards looking at self-assistance through teleoperation, we have chosen a simple task: manipulation of a virtual environment through a single axis at the feet (the primary ankle joint).