My capstone project involved programming a 3-DOF admittance control hand exoskeleton for robotically facilitated training of the hemiparetic hand and an interactive, virtual 3D environment for its platform. We broke the project down by task and order of completion because the next task of the project could not imagine fruition without the successful completion of its previous task. In this way each task’s completion was in itself a milestone and strict adherence to out Gantt chart was vital and, often times, difficult. The scope of the project prevented my team from being able to breakdown the work for the project in any other way. Admittance control programming for the robot had to be completed before any inverse kinematics could be done; inverse kinematics had to be working properly before any game could be designed; and only after the game was running smoothly could the hardware be built, assembled, and tested. We put in place verification and validation (troubleshooting) measures in order to make sure we successfully completed the task and reached our milestone.