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Stroke rehabilitation is a challenge that is being continuously addressed in the therapeutic world. A unique system is proposed to address upper-extremity stroke rehabilitation. This system incorporates a modified mass-marketed joystick with three distinct subsystems: a) an extended joystick that enables a larger range of motion and arm movements in both the horizontal and vertical fields that can be augmented with passive springs; b) a controller that implements user-centered assistive or resistive forces based on therapist input to a fuzzy expert system; and c) game centered forces. The system is currently under evaluation with IRB-approval for both stroke and non-stroke patients.