DIEGO® is a robotic and sensor-based upper extremity rehabilitation device that provides assistive and interactive therapies for the whole arm. It can be used for both unilateral and bilateral therapy, with no configuration necessary. The device is applicable for adults and children in all rehabilitation phases, and has a short setup time. The end effector system allows for hands-on therapy, while the intelligent gravity compensation (IGC) feature provides active weight relief of the arms for optimal mobilization. Virtual reality is incorporated to support cognitive rehabilitation and stimulate neuroplastic changes in the brain. The device offers ROM assessments and functional therapies for upper extremity impairments, including neurological, pediatric, orthopedic, and geriatric. The arm slings attach to the arms both unilaterally and bilaterally, and the sensors capture the arms’ positions and joint angle. DIEGO® provides interactive therapeutic games and assessments to track improvements and rehabilitation progression. It also enables the ideal transfer of what patients have learned into everyday life. The device allows for quick changes between adults and children, and offers high net therapy time with interactive therapies and task-oriented training with objects. It enables symmetrical and asymmetrical movements, as well as cyclical and cooperative sequences of movement.