I. Introduction
Individuals who have suffered a spinal cord injury may become paralyzed, which entails reduced mobility and, in approximately half of the cases, results in tetraplegia; paralysis from the neck down. This condition greatly limits the independence and quality of life of these individuals [1]. Additionally, tetraplegia results in a constant need for assistance and thus very little privacy. A study by Maheu et al. [2] found that introducing an assistive robotic device could reduce the need for assistance by up to 41%, while increasing the level of independence for individuals with tetraplegia. Yet, fully assistive upper limb exoskeletons are mostly used for rehabilitation purposes [3]–[6]. Rehabilitation exoskeletons are not necessarily limited in the physical space they occupy, nor the aesthetics they afford, and thus they often lead to bulky exoskeletons that are not fit for assistive applications.