The Gentle/s project focused on using robot-mediated therapies for neurorehabilitaiton after stroke. The project consisted of deciding on best interaction mechanisms driven from human arm trajectory models, errorless learning concepts and motor relearning programme in order to interact with patients recovering stroke. Different therapy modes were available for use by the therapist in charge of the patient’s therapy programme. Patients then practiced using the selected therapy profiles as well as an arm suspension mechanism as a control intervention. A total of 31 patients underwent a 9 week assessment/exercise period and achieved results has been published by various authors.