Intensive rehabilitation training of the arm can improve motor recovery in patients with neurological impairment. Actuated robots are becoming more and more common in this field as they serve to actively assist, enhance and assess neurorehabilitation. However, there is currently no actuated robot available specifically designed for the rehabilitation of children with upper extremity motor impairments. In this paper, we describe a completely new designed exoskeleton-based arm robot, ChARMin, with four degrees of freedom to guide and assist shoulder and elbow movements for young patients with motor impairments. The serial mechanical structure includes parallel kinematics for remote center of rotation actuation. This allows to keep a safe distance between parts of the robot and the patient and it reduces friction, while being highly adaptable to cover the anthropometrics for patients aged 5 to 18 years. Additionally, a novel passive weight support mechanism and 6 degrees of freedom force sensors are installed for a safe and transparent operation of the device.

There exist many tools to passively monitor a link for traffic flows. They are typically used near the edge of the network, but not necessarily at the termination point of data flows - usually within a few hops of end-points. Round trip time (RTT) values for individual flows is of interest for network management purposes and can be used to indicate user experienced network delay, and in network design decisions. Determining the RTT when not at an end-point of a data flow is complicated by the fact that packets may be seen out of order and that witnessed packets may not reach their destination. In this paper we present an algorithm to estimate running RTT and jitter characteristics of TCP streams monitored at the midpoint of a TCP flow