Inclusion Criteria:  Have had a history of ischemic cerebrovascular accident (CVA) within middle cerebral artery (MCA) or anterior cerebral artery (ACA) territory CVA occurred between six months and six years ago Moderate to severe UE impairment, FMA-UE score between 15 and 45 Mini-Mental State Examination (MMSE) score >23 and being able to safely follow three-step commands  Exclusion Criteria:  Advanced musculoskeletal pathology or recent fractures in the impaired UE Previous diagnosis of neurological diseases other than stroke Severe limitation of passive range of motion or spasticity (Modified Ashworth Scale for spasticity at <3 for UE muscles) Hemorrhagic CVA or involvement of the posterior cerebral artery Aphasia sufficient to limit ability to express needs or discomfort verbally or non-verbally Impaired visual acuity (Severe visual impairments as assessed by the NIH Stroke Scale Visual Field subscale. (score >0)) Severe hemispatial neglect as assessed by the Line Bisection Test (score >2) Severely impaired trunk control (<4) Individuals who present with the following on the intended limb: Open wounds Fragile skin Under contact precautions due to an active infection Participation in another therapy focused on recovery of the impaired arm Subjects with cardiac pacemakers, electronic pumps or any other implanted medical devices, that are not US-certified Any Condition that would prevent safe use of the Burt system; such as proprioceptive deficits that impair the ability to process haptic or visual feedback, or unstable shoulder joint as assessed by physical examination Current pregnancy (self-report) The concern is strictly towards women who are in the 2nd or 3rd trimester and the eventuality of the arm of the BURT accidentally impacting the woman's belly. The system does have safety features (including a virtual safety wall, to keep the device away from the patient's body) but we are taking this as an extra precaution against any potential harm