Efficacy of a Bilateral Robotic Treatment in Chronic Patients

Inclusion Criteria: * Subjects aged between 18 and 80 years, of either sex * Subjects able to understand and provide, or have provided on their behalf, informed consent * History of a single unilateral ischemic or hemorrhagic cerebrovascular event in the chronic phase (\> 6 months) * Subjects with mild to moderate functional impairment of the right or left upper limb (ability to perform antigravity active movements) Exclusion Criteria: * Subjects with cognitive deficits that impair understanding of the required tasks (MMSE score corrected for age and education \< 24/30) * Subjects with severe visual deficits * Subjects with upper limb spasticity preventing the use of robotic devices (spasticity measured using the Modified Ashworth Scale \> 3) * Inability or unwillingness to provide informed consent * Left-handed subjects