Traditional robotic rehabilitation systems rely on large-torque, low-impedance actuators to support limb weight and ensure safe interaction. However, both humans and robots struggle with resisting gravity—a challenge that this project reframes as an opportunity. By dynamically tilting the support surface, our system shifts the direction of least resistance, allowing gravity to assist motion rather than oppose it. This design enables safe, low-impedance human-robot interaction across planar workspace movements without requiring costly direct-drive motors. Instead of rigidly constraining movement trajectories, the system subtly reduces effective load in real time to amplify volitional intent, supporting more natural motor engagement. The current implementation uses a negative viscosity control strategy to promote motion, with future extensions planned to tailor assistance based on individual movement deficits. This gravity-based approach opens new possibilities for affordable, adaptive rehabilitation—particularly in home-based or resource-limited settings. This project was led by Benedek Gyuris, MS Mechanical Engineering at Tufts University.