A method and apparatus for upper limb rehabilitation training of coordinated arm / forearm, forearm / forearm and grasping movements of a motor impaired patient comprises a nonrobotic, passive support, an arm / forearm sensor, a gripping device, a grip sensor capable of measuring an impaired grasping force of a grasping of the patient, a computer to process measurements of coordinated and simultaneous impaired arm / forearm, forearm / forearm and grasping movements to control a graphical representation of the arm / forearm and grasping movements in interaction with a virtual environment, and to provide a visual feedback signal to the patient of simulated normal activities of daily living performed with enhanced motor ability relative to the actual impaired motor ability. A visual feedback signal of the simulated activities of daily living is provided to motivate the patient to perform the upper limb rehabilitation movement training despite limited motor ability.