Although scientific evidence shows that therapy improves movement recovery following a stroke, the duration of the reimbursed therapy available to patients is decreasing. To compensate for the reduction in personal therapy self-training procedures using robotic arms have been developed for hemiplegic patients. In this Dutch pilot study, the experiences of stroke patients and their therapists with the second prototype of a robotic arm device for ACtive REhabilitation (ACRE2) are evaluated. Positive results for patients and therapists are reported and the development of a system that can be used at home (ACRE3) is recommended. © 2007 IOS Press. All rights reserved.