Inclusion Criteria:  Patient with motor deficit(s) due to stroke as diagnosed by CT or MRI, who are attending outpatient rehabilitation services at TTSH Rehabilitation Centre and Centre for Advanced Rehabilitation Therapeutics; Patient with first ever clinical stroke (confirmed on brain imaging); Post stroke of at least 3 months with stable neurological status; Age between 21 to 80 years, inclusive; Hemiplegic pattern and shoulder abduction Medical Research Council motor power > 2/5; Able to give and sign informed consent at research site; Montreal Cognitive Assessment >= 22/30.  Exclusion Criteria:  Patient with severe cognitive, perceptual (include hemi-neglect), and/or emotional-behavioural issues that preclude participation; Experiencing moderate to severe levels of pain (visual numeric pain rating scale > 5); Has unstable or terminal medical conditions which may affect participation (e.g. unresolved sepsis, postural hypotension, end stage renal failure) or anticipated life expectancy of < 1 year due to malignancy or neurodegenerative disorder; Non-stroke related causes of arm motor impairment; Local factors which may be worsened by arm therapy or device interface: spasticity of MAS > 3, unhealed skin wounds/rashes, shoulder pain visual analog scale > 5/10, active fractures or arthritis or fixed flexion contractures of shoulder, elbow, wrist or fingers incompatible with device interface; Inability to tolerate 90 minutes of therapy session; Pregnancy or breast feeding; Detectable sensory impairment of affected limb---hemianesthesia to sharp pain.