Inclusion Criteria:  At least 18 years old A first-ever unilateral, supratentorial stroke (as defined by WHO) In the chronic phase after stroke (i.e. being at least 6 months after stroke) Motor deficits of the upper limb (Fugl-Meyer Motor Assessment - Upper Extremity < 60/66) Somatosensory deficits of the upper limb (Erasmus modified Nottingham Sensory Assessment < 36/40) Ability to perform, at least to some extent, active shoulder abduction and wrist extension against gravity Ability to perform passive and active sensory processing assessment task (primary outcome measure)  Exclusion Criteria:  History of previous stroke or TIA Any serious musculoskeletal and/or other neurological conditions Serious communication or cognitive deficits No written informed consent