A. A patient working with the linear robot in the vertical plane (arrow locates the vertical sliding plane and the hand-machine contact). The patient is placed in a comfortable seated position, and compensatory torso movements are minimized by use of a seatbelt as well as constant supervision during the training by a skilled therapist. Visual feed-back is provided on a computer screen by a yellow ball that the patient has to move between targets. B. Demonstration of use of the robot in the horizontal, gravity eliminated plane (arrow locates the sliding plane and the point of hand-machine contact).