Designing the actuation system for a robot is a crucial step during the machine
development. This phase is even more critical if the robotic system is represented by a haptic interface
or a rehabilitation system that are meant to operate in near contact with the human body. Generally, the
design process takes into account a realistic model of the limb interacting with the interface [1,2] and
includes as set of simulations intended to study the coupled interface-limb system. The result of these
simulations allows fixing important requirements necessary to design the interface. Among them the
number of Degrees of Freedom (DOF), the joints type and configuration, and the links dimensions.
When the kinematic of the interface is ready a proper dynamic model [3] needs to be formalized and
computed. This is demanded to find out other important design elements like the optimal actuators
displacement and dimensioning
