Brain injury as a result of stroke and trauma is a leading cause of disability in the U.S. Unfortunately, little technology is currently available for individuals with brain injury to practice and monitor therapy on their own at home. This paper describes an inexpensive robotic telerehabilitation system for arm and hand therapy following brain injury. “Java Therapy” is a Web site with a library of evaluation and therapy activities. The activities can be performed with a commercial force feedback joystick, and the joystick can physically assist or resist in movement as the user performs therapy. The system also provides quantitative feedback of movement performance, allowing users and their caregivers to assess rehabilitation progress via the Web.