Following a collaboration between CRNL (Lyon Neuroscience Research Center), INSERM and Ampère laboratory, INSA Lyon, a first prototype was designed and manufactured. This prototype aims to set up experimental protocols to test proprioception in humans. This prototype consists of two symmetrical parts to measure and move the position of the arms of a subject during movements in the sagittal and horizontal planes. The expected work is to improve the current prototype. Indeed, following several tests with researchers at CRNL, some areas for improvement have been mentioned. These are mainly: 1. review the design of certain parts that do not allow for simple adjustments; 2.