In one embodiment, a robotic mirror therapy system for providing therapy to a user having a impaired hand, the system including a motion command glove configured to be worn on a healthy hand of the user or another person, the motion command glove comprising position sensors configured to determine the position and orientation of the healthy hand and its fingers, a motion actuator glove configured to be worn on the user's impaired hand, the motion actuator glove comprising actuators configured to actuate the impaired hand and its fingers, and a control unit configured to receive position data from the motion command glove and to control actuation of the actuators of the motion actuator glove such that the impaired hand mirrors motion of the healthy hand.
