3rd International Convention on Rehabilitation Engineering and Assistive Technology, ICREATE '09, 22-26 April 2009 ; Active initiation and participation in the rehabilitation is a key of success for stroke rehabilitation. To patients with stroke, the interactive robotic system would motivate them to actively interact with the system during the task-related training regime. The system used muscle activation from affected limbs as control signal. The system was designed to train the wrist, elbow, knee and ankle joints in vertical and horizontal positions. Results from wrist and elbow training on persons after stroke had shown improvement in reduced spasticity on the joint, better coordination on the wrist and elbow joints. ; Department of Mechanical Engineering ; Refereed conference paper