Since the development of the Arm Coordination Training 3D Device (ACT 3D, United States Patent No. 7,252,644 B2, Aug. 7, 2007) in 2002, colleagues in the Neuroimaging and Motor Control Laboratory at Northwestern University Department of Physical Therapy and Human Movement Sciences have been studying the administration of therapeutic interventions and the measurement of reaching performance as they relate to the fundamental impairment of abnormal abduction/elbow flexion torque coupling or "flexion synergy" in individuals with chronic hemiparetic stroke. The quantification of reaching work area as a function abduction loading with the ACT3D robot represents the detrimental impact of abnormal joint torque coupling on functional reaching and can be utilized as an outcome measure in clinical research and practice. Furthermore, the ACT3D can be used to initiate and progress a therapeutic intervention meant to reduce the abnormal joint torque coupling impairment and thus increase reaching range of motion under functionally relevant abduction loading conditions. This paper will review the work completed to date utilizing targeted rehabilitation robotics both as a quantitative clinical evaluation tool and also as a rehabilitation device for the administration of quantitatively controlled therapeutic exercise.