Inclusion Criteria:  Hebrew speaker. First stroke (ischemic or hemorrhagic). Weakness on one side of the body (left or right). At least 21 days have passed since the stroke event. At least 21 days left for inpatient rehabilitative care. Have partial mobility in the elbow and shoulder and the ability to open and close the hand. A minimum score of 10 (out of the 66) on the Fugl-Meyer Assessment for the upper limb. Cognitive status: Mini-Mental State Examination [MMSE] = 23 or higher; or MoCA test = 26 or higher.  Exclusion Criteria:  Complete paralysis of the affected side. Comorbid central nervous system diseases that may affect brain plasticity (MS, ALS). Sensory Aphasia (as per the medical diagnosis). One-side neglect. Apraxia. Pregnancy or breastfeeding. Strong pain in the shoulder (VAS>6) that may prevent the ability to execute the tasks A severe orthopedic problem in the upper limb that prevents the ability to execute tasks on the robotic system.