Human-human interaction has been a subject of great interest in the last years. The focus has been posed on the responses that these types of interactions bring in the term of motor behavior. Moreover, the studies on interpersonal communication are aiming to find new paradigms to exploit the signals that are interchanged between humans for the purpose of enhancing rehabilitative outcomes.

In the first part of this thesis we will present the motivation behind this study, how our device is inserted in the state of the art and the future aims that this specific field wants to achieve. Considering the latter, an a very brief overview of rehabilitation is presented to better understand how the connection of humans to a robot and the connection between humans through a robot can change the way of doing rehabilitation in the clinical environment. Finally, some related works are presented. We aim to verify the work of Ganesh et al (2018) using our experimental system. In the second part, the implementation and the design of our new device called Pantograph is presented with a detailed explanation of the techniques used, the design specifications, the structure of the data acquisition system, the functioning of the data analysis software and the protocol followed for this pilot study. In the third part, the results obtained in this pilot study and how the robot behaves in an actual experiment will be presented. Finally, the results obtained will be discussed. Since the device is a result of this study, in this part also the limits and the possible improvements that can be applied to the device are suggested for future works. This study represents a first step used to demonstrate the functioning of the device, the development of a first paradigm for future studies on human-human interaction by using this device and another proof that interpersonal interactions can be deployed in the clinical environment.