This paper describes the evolution of the arm therapy robot ARMin I–IV, ChARMin, and ANYexo used for rehabilitation training of neurological patients. ARMin was validated in several clinical studies and commercialized by Hocoma AG as ArmeoPower. Later, the development of the wearable, soft, cable-driven Myoshirt started with the goal of transferring the experience obtained with the ARMin series to a device that can assist people with upper limb weakness in daily life situations.