Previously, spasticity, which occurs in patients with neural deficits of the central nervous system, has largely been assessed through qualitative measures. For example, patients with stroke, multiple sclerosis, cerebral palsy, and other conditions of upper motor neuron syndrome are tested for spasticity using the Modified Ashworth and Tardieu Scales. Here, the therapist passively extends the patient’s affected arm and subjectively assigns a number based on the amount of resistance that occurs. A quantitative approach is needed for a more exact assessment of the rehabilitation process. Therefore, the goal of this project is to develop a novel device that incorporates a rehabilitation paradigm in order to quantitatively measure spasticity.