Persons with neurological disorders or spinal cord injuries, such as Cerebrovascular Accident (CVA) or Paraplegia patients, experience significantly reduced physical abilities during their activities of daily living. By frequent and intense physical therapy, these patients can sustain or even enhance their functional performance. However, physical therapy, whether or not it is supported by technology, can currently only be followed in a rehabilitation centre under supervision of a therapist. To provide technology-supported physical therapy for independent use by the patient in the home situation, our current research explores pervasive technologies for rehabilitation systems. In this paper, we describe our pervasive prototype 'Liftacube' for training of upper extremities. An initial evaluation with patients with a neurological disorder or spinal cord injury (CVA and paraplegia patients) and their therapists reveals a great appreciation for this motivating pervasive gaming prototype. Reflections on the technical set-up (such as size, form factor, and materials) and interaction preferences (such as feedback, games, and movements for interaction) for pervasive rehabilitation systems in a residential environment are elaborated upon.