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In this paper, we develop the robotic system for the rehabilitation of the upper limbs which consists of a PA-10 robot manipulator and a 6-axis force/torque sensor. In addition, we generate FES signals to assist paralytics based on the difference of reaching performance between normal and abnormal arms. To estimate the motor performance, subjects were asked to perform a tracking task; in this study, the healthy subjects conduct experiments. We verify that the FES signal values are saturating followed by the trial number and adjusted by reaching performance.