This paper presents the implementation of a framework for computer-assisted neurorehabilitation that intends to address the need for more personalized healthcare technologies. This framework called UniTherapy is applied to home neurorehabilitation for individuals with stroke-induced disability. It supports interactive upper limb assessment and therapy that makes use of mass-marketed force-reflecting joysticks and wheels, as well as some customized therapeutic devices. A novel service-oriented technical infrastructure is presented, which includes a rich menu of performance assessment capabilities and support features that include telerehabilitation links, protocol design, and data analysis tools. Results are presented that demonstrate its potential as a sensor-based assessment tool. User feedback is summarized.