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To address the limited dexterous workspace of the human hand, we have developed the Active Handrest. This device assists in precision manipulation tasks by extending a user’s dexterous workspace while providing ergonomic support for reduced fatigue. People use handrests to complete dexterous activities as routine as providing a signature. However, the dexterous workspace of the statically supported hand is somewhat limited. By providing consistent support over large workspaces the Active Handrest could be useful for performing precision tasks, such as surgery, upper limb rehabilitation, and machining. Our prototype Active Handrest is a planar, human–machine interface that provides support for the user’s wrist and arm while allowing the user to retain complete control over a grasped tool or manipulated device. The Active Handrest uses force input from the user’s hand, position input from a grasped tool …