Functional Recovery in Stroke Patients With Task-Specific Robot-Aided Arm Therapy

Inclusion Criteria: * Age 18 or more * first-ever stroke (hemorrhagic or ischemic), verified by brain imaging * stroke more than six months prior to the study * termination of conventional therapy and stable recovery stage (outpatients) * moderate to severe motor impairment of the arm (upper limb portion of FMA score between 8 and 38) * ability to sit in a chair without any additional support and without leaning on the back rest * written informed consent signed by the subject (or an authorized representative) Exclusion Criteria: * Excessive spasticity of the affected arm (mAS ≥ 3) * any serious medical or psychiatric illness * participation in any clinical investigation within 4 weeks prior to the start of this study * anticipated need for any major surgery during the study * women known to be pregnant or lactating * Orthopedic, rheumatologic or other disease restricting movements of the paralyzed upper extremity * shoulder subluxation (palpatory \> 2 fingers) * diseased or damaged skin at the paralyzed arm * inability to communicate effectively with the neurological examiner such that the validity of the patient's data could be compromised * cyber sickness * pace-maker or other implanted electric devices * body weight \> 120kg * serious cognitive deficits and aphasia preventing the performance of the ARMin treatment * participation in any therapeutic treatment ("outside therapy") performed with the paralyzed arm during the planned study - including baseline and follow up.