The soft robotic system could provide objective and quantifiable measures of subject performance. By combining voluntary motor intention and the robotic hand technology, the system will facilitate the recovery process of stroke patients.

Inclusion criteria:

1. at chronic stage (6 months after the onset of stroke) with a pure unilateral motor paresis after a stroke (ischemic or hemorrhagic);
2. sufficient cognition to follow simple instructions as well as understand the content and purpose of the study;
3. able to sit up for 45 minutes (with or without assistance).

Exclusion criteria:

1. Patients with severe dysphasia (either expressive or comprehensive) with inadequate communication;
2. any additional medical or psychological condition affecting their ability to comply with the study protocol;
3. history of other neurological disease, psychiatric disorder, including alcoholism and substance abuse.