Globally, stroke is ranked as the second leading cause of death and the third largest cause of disease burden. Stroke is associated with tremendous physical, psychological and economical demands on patients, families, the health care system and society at large. The worldwide burden of stroke is expected to increase in the coming years. In the developed countries, this trend is primarily a consequence of the growing older population; age being a major risk factor for stroke. Upper limb paresis is one of the most frequent and persisting impairments following stroke, and represents a major obstacle to regain independence in activities of daily living (ADL). In fact, it has been estimated that about 50% of the stroke survivors will be left with a non-functional arm after completed stroke rehabilitation. In order to minimize the disease burden in stroke survivors, it is of great importance to design and implement effective rehabilitation strategies targeting the paretic upper limb.