In 2020, a doctoral candidate for Occupational Theraphy at the Pacific University of Oregon, Vy Nguyen, called Henry, described her Capstone Project Requirements, and asked if R4H could help her combine her world of Ocupational Theraphy with our world of Healthcare Robotics. One thing led to another, and in the summer of 2021, Vy spent two months, both in our home and at Hello Robot figuring out ways Henry could use Stretch.