Robot-assisted rehabilitation is an arising approach used to help post-stroke patients to recover motor capacity. A stroke occurs when the carrying of oxygen and nutrients to the brain is interrupted and so part of the brain cannot get the blood it needs. The consequence is the death of brain cells in the region that controls a particular body function, as reflection a part of the body stops working as it is supposed to do. Stroke causes in patients a loss of hand dexterity and motor impairment on the upper-limb movements, such as reaching and grasping, which are fundamental components of many of the Activities of Daily Living (ADLs).