Abstract: A method and apparatus for automated arm training includes at least one therapeutic device that includes a handle, a sensor assembly, and a display. The handle is configured to move along a path. The sensor assembly is configured to provide a measured time series made up of multiple handle location measurements at a corresponding multiple of measured time instances. The display is configured to present an image based on the measured time series. A robot motor can be configured to keep the handle moving near a tolerance of a target trajectory.