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This paper is the continuation of a work presented at ICORR 05, in which the results of single-subjects studied suggested that the haptic robotic therapy proposed improved eye-hand coordination in children diagnosed with this problem, using a robotic mapping from a haptic user interface to a virtual environment. This paper presents the integration of the aforementioned system with an intelligent decision support system (IDSS) based on fuzzy-logic. Our goal is to develop an assessment and training procedure that will result in improving handwriting taking the advantage of the force feedback provided by the haptic device and the intelligence provided by the IDSS. We also incorporate the inertia and viscosity effects to decrease the tremor in the hand as well as to stimulate the muscles involved in the task of holding a pencil (known as facilitation technique in the Occupational Therapy field). The IDSS is based upon a fuzzy automaton. By using qualitative (fuzzified) data from the previous tests executed by the subject, the system will make a decision on the complexity of the next test to be performed. It is expected that this automated system will reduce the burden and the associated cost of having a trained professional present in all assessment/training sessions.