Inclusion Criteria- Clinical diagnosis of Hemorrhagic or ischemic stroke
- Subject had the stroke more than 12 months ago.
- Subject presents mild-to-moderate upper-limbs hemiparesis (Proximal Medial Research Council Scale>2) secondary to a first-ever stroke.
- Age between 45 and 85 years old.
- Subject has previous experience using the RGS system in the clinic.