Each session consists in 20 minutes of robot-assisted RM and 20 minutes of robot-assisted HtMM. Movements are fully assisted (the robot handle moved along the path with a predefined motion law independently of the forces exerted by the patient on the handle) but the patient is explicitly asked to participate by trying to follow (slightly anticipate) the moving handle. Recalling that both movements are against gravity, in order not to get fatigued, the patient is asked to change the level of engagement every 5 movements by alternately relaxing during movement and actively participating.