for example a greater or lesser responsiveness or a greater or lesser uncontrollable freedom arm 102 is for example 1 meter 0 8 meters 0 5 meters 0 3 meters or any greater smaller or intermediate length in device 100 as illustrated the motion which is controlled is of a single point i e tip 108 by providing various attachments for tip 108 tip 108 may be connected for example to a bone to a joint or to a different part of the body the attachment may be rigid for example using a strap or it may depend on the patient for example as a handle or a rest specific attachment devices for example for a hand arm elbow and or shoulder may be provided further as described below multiple tips 108 optionally with individual arms 102 may be provided for attachment at different points of the body when providing rehabilitation various types of motion may be supported for example one or more of a passive motion tip 108 is moved and the patient moves with it b resisted motion the patient moves tip 108 and encounters resistance the resistance may be of various magnitudes c assisted motion when a patient moves tip 108 a positive feedback on arm 102 increases the force of motion in the direction moved by the patient d force field motion the patient moves tip 108 along a certain trajectory one level of resistance or none is encountered deviation from the trajectory is not allowed or meets with resistance fig3 shows an example of such a force field motion along a u201c correct u201d trajectory 302 can.