The human brain has excellent plasticity in terms of recovery from a stroke. It is expected that neurorehabilitation using an apparatus that applies robotic and virtual reality technology has rehabilitation training effects on stroke patients. Rehabilitation of the upper limbs consists of rehabilitation for shoulders and elbows, and rehabilitation of the fingers and wrists. Both rehabilitations are necessary to improve activities of daily living. Many rehabilitation systems for shoulders and elbows have been effective thus far. In this review, we introduce rehabilitation systems for the shoulders, elbows, and wrists of the upper limbs “PLEMO” series using force presentation technology with brakes. Rehabilitation systems using brakes are essentially safe unlike rehabilitation systems using actuators.