BURT Rehabilitation System is indicated to aid in the rehabilitation and evaluation of upper extremities for patients suffering from neurological or musculoskeletal injuries or conditions. BURT is a robotic system with 3 actuators (DC motors) in the base, a relatively thin “arm” section composed of two links (“inner” and “outer”) connected via a rotating joint (driven by the 3rd actuator via cables), electronics to drive the system, firmware and software that control the system and provide therapeutic activities and games for the patient, and a stand that supports the system.