Inclusion Criteria:  height between 150 and 190 cm; weight not exceeding 130 kg; ischemic injury; first cortical and supra-tentorial event; moderate motor deficit of the upper limb (score on the Fugl-Meyer Assessment - Upper Extremity between 29 and 42); time since stroke event between 1 and 6 months; trunk control test score greater than or equal to 48; healthy bone density and skeleton that does not suffer from unhealed fractures.  Exclusion Criteria:  Relevant medical comorbidities (severe neurological diseases, cardiovascular diseases, diabetes / unstabilized hypertension); Cognitive impairment that prevents understanding of the exercises administered; Unavailability to provide informed consent; Pregnant women; Severe spasticity (Ashworth 4); Major muscle contractures; Excessive asymmetry in the length of the arms; Upper limb prostheses; Excessive joint limitations that make it difficult or painful to use the device; Use of pacemakers or implantation of active devices; Patients who already participate in another clinical study or who are already undergoing another similar robotic rehabilitation treatment.