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Zope.testbrowser provides an easy-to-use programmable web browser with special focus on testing. It is used in Zope, but it's not Zope specific, it can be used to test or otherwise interact with any web site.
Capybara aims to simplify the process of integration testing Rack applications such as Rails, Sinatra or Merb. Capybara simulates how a real user would interact with a web application. It is agnostic about the driver running your tests and currently comes with Rack::Test and Selenium support built in. HtmlUnit and env.js are supported through external gems.
Webrat helps to write expressive and robust acceptance tests for a Ruby web application. It supports multiple Ruby web frameworks like Rails, Merb and Sinatra. It also supports popular test frameworks like RSpec, Cucumber, Test::Unit and Shoulda.