We investigated whether robot-based training with a four degrees-of-freedom actuated device, the ARM Guide, would result in significant gains in arm movement ability of stroke survivors. Specifically, we sought to determine if specific trained tasks in a limited area of the workspace would transfer to gains in performance of different tasks and movement in untrained regions of the workspace. Subjects with chronic hemiparesis participated in an eight week training protocol and were randomized into one of three training groups: guided force training with the robotic device (N=7), free reaching (N=7), and a conventional occupational therapy group (N=7). Outcome measures include free reaching distance and observations of functional task performance from three clinical scales. Results indicated that all three training methods induced at least some transferable motor learning demonstrated in the functional tasks and in free reaching to a target that was outside of the trained workspace. We report here on our interm findings regarding the generalization of robot-assisted learning.