Assistive devices for patients with neurodegenerative movement disorders must combine high mechanical transparency with the ability to generate corrective interaction forces. Achieving both properties simultaneously remains challenging. This paper presents the completed iAssistADL platform, a 3-DoF assistive device for future tremor and ataxia compensation during activities of daily living. The system employs a transparency-oriented mechanical architecture with all actuators located at the base, resulting in low moving mass, decoupled kinematics, and high mechanical transparency. To compensate for friction-induced transparency limitations along the vertical axis, a hybrid control strategy is proposed that combines open-loop force rendering in the horizontal plane with closed-loop force control in the vertical direction. The platform is experimentally evaluated through transparency measurements and static and dynamic force-rendering experiments at representative configurations. Results demonstrate resistive torques below 0.1 Nm in the horizontal plane, end-effector forces of up to approximately 10 N throughout the workspace, and accurate horizontal force rendering up to 4 Hz. While the vertical axis remains limited by friction-induced dynamics at higher frequencies, the proposed system successfully combines high transparency with controlled force generation, establishing a promising hardware platform for future tremor and ataxia compensation.

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