 Hi, my name is Navita Anil Kumar and my co-author is Pillwanhar. We are happy to present our work on a handheld gyroscopic device for haptics and hand rehabilitation. Our device called Jumbal is a novel handheld gyroscopic device that imposes a controlled gyroscopic torque about the user's wrist. It consists of an actuated rotor and gimbal housed in an easy-to-grip shell. Compared to existing devices, Jumbal is portable and can impose about 0.5 to 0.7 Newton meter torque about the wrist. Major challenges with gyroscopic devices are vibrations due to rotational imbalances and wire entanglement. The former is solved by adopting a rotationally symmetric design while the latter is solved using slip rings. The enclosure was designed to look like an American football to appeal to the American market and avoid device abandonment, which is a major issue in the field of rehabilitation. Initial design specifications of Jumbal were identified through interviews with physical therapists, which revealed that Jumbal can be used for strength training and for combating spasticity. Proof-of-concept models also helped identify design needs. Torque simulations in Simscape helped select motor specs and rotor inertia. Finally, grip analysis helped design grooves along the enclosure to allow for a comfortable grip. The grip analysis involved a non-linear optimization and a grasp map. The feasibility study with two healthy subjects. The rotor and gimbal speed were altered in increments. We proved that the amplitude of hand motion generated and in turn the torque increases with the rotor and gimbal speed. We also showed that the frequency of hand motion is equal to the gimbal's rotational frequency. Based on the preliminary results, we believe that there exists a user-specific function relating the generated hand motion range and the input speed. This will be the focus of our future work. Once found, we will use said function to design different haptic cues and validate the same through a thorough human subject trial. Thank you very much and we are open to any questions.