Stroke is a cerebrovascular disease that occurs when there is a blockage or haemorrhage that reduces the blood supply to the brain; consequently, the brain does not receive sufficient oxygen and nutrients, leading to the death of brain cells. Stroke is the second leading cause of death in the world and in Italy. Stroke's survivors usually are left with impairments and motor problems, which make daily living activities difficult. Rehabilitation plays a fundamental role in the patient's motor recovery: the need for repetitive and precise assistive movements makes robotics an ideal application in rehabilitation. Technology-supported training is emerging as a solution to support physiotherapists by providing high-intensity, repetitive and activity-specific treatments, to improve the recovery process and facilitate restoration of upper limb function.