STUDY POPULATION AND DESIGN In this cohort study, a convenience sample of 20 patients with mild-to-severe upper-limb impairment (upper-limb Fugl-Meyer scores at baseline: 11/66 to 61/66 points) 6 months or more poststroke will be enrolled. The study is in 2 phases. A pilot trial, involving 10 patients, will aim to verifying the short-term efficacy of the robotic intervention in reducing motor impairment. If results will be positive, the study will be continued and the sample size will be calculated on statistical basis from the preliminary results. The second trial aims to improving the number of patients and to verifying whether functional improvements translate into improved activity and participation.