In this proposed project, we plan to use the Armeo robotic system to deliver motor training therapy. The Armeo system is an adjustable arm orthosis that has received FDA 510k exemption. It passively counterbalances the weight of the arm, thereby reducing the effort required by the paretic arm to overcome gravity. The device is able to augment feedback through a virtual environment (i.e. computer games). The tasks presented in the virtual environment are designed to achieve functional movements, i.e. the subject has to perform tasks such as reaching for objects as part of the game. Gravity compensation, which can reduce the level of difficulty of performing an activity, facilitates active arm movement, especially when it involves training in grasping and reaching. By using the Armeo system, we hope to achieve repetitive training of reach, grasp, and release in an engaging environment that can be adapted to individual capabilities. We also expect to enable stroke survivors whose motor weakness may have excluded them from performing repetitive therapy tasks to participate in this study.