The experimental setup consists of a lightweight passive arm exoskeleton for weight compensation, a current-controlled stimulator with 2 channels of stimulation and 2 channels of EMG recordings developed by Hasomed GmbH, and interactive objects, which are daily life objects equipped with RFID (Radio Frequency Identification) tags used to identify the target positions so as to drive the execution of the rehabilitation exercises. A suitable reader is embedded in the exoskeleton with the antenna on the wrist joint. The control system is shared between an Embedded Control System (ECS), running on a BeagleBoneBlackTM, for real-time operation, and a Windows-based table (Microsoft Surface 3 running Windows 8), which provides a graphical user interface (GUI) for the therapist and the patient.