1. A method of recording a motion of a physical object executed by a human operator and robotically repeating the motion on a motion-generating device to enhance motor learning of a trainee by repetition of said motion comprising: a) instrumenting said physical object with electromechanical sensors that sense a 3-dimensional position of the object at sequential instants of time during said motion and provide electronic positional signals during said motion, b) acquiring the electronic positional signals from the sensors during said motion of said physical object over at least one training trajectory by said operator and storing the positional signals in a data format that allows for subsequent signal processing, c) verifying that the stored positional data corresponds to a valid training trajectory by comparison with previously established limits, d) transferring the stored positional data for each training trajectory to a signal processor and processing the data to form a motion data record in a coordinate system particular to a motion-generating device, e) constructing motion control commands that include time, 3-dimensional acceleration, velocity and position data in a coordinate system particular to the motion-generating device based on the motion data record, wherein constructing the motion control commands include selecting for each motion data record in the coordinate system particular to the motion-generating device, a maximum excursion, a minimum excursion, a maximum velocity, a minimum velocity, a maximum acceleration and a minimum acceleration and a time and a position of occurrence during the motion data record for each of the maxima and minima in excursion, velocity and acceleration and constructing a new data set of position, velocity and acceleration values that maintains the time and position of occurrence of the maxima and minima in excursion, velocity and acceleration and further constrains acceleration to continuous values, and, f) after completion of steps a) through e), attaching the physical object to the motion-generating device wherein said trainee interacts with said physical object in a normal operational manner, and g) applying the motion control commands to motion controllers within the motion-generating device to cause the motion-generating device to repeatedly move said physical object over said training trajectory while said trainee interacts with said physical object.