INTERVENTION The intervention is administered by a trained research therapist via an end-effector robot (Pa10-7, Mitsubishi, Japan), which was customized to assist 3D multi-joint functional movements against gravity performed at physiological velocity. The robot enables the execution of both reaching movements, which in everyday life are used to interact with the environment (e.g. reach, grasp, and manipulate objects) and movements taking place in the peripersonal space.