This work was funded by the Istituto Nazionale per l’Assicurazione contro gli Infortuni sul Lavoro (INAIL) under grant agreements "PR23-RR-P2 – ClinicEXO". Stroke is a cerebrovascular accident caused by the interruption of blood supply to the brain, either due to blocked artery (ischemic) or bleeding (haemorrhagic). It is a major cause of long-term disability worldwide, often resulting in hemiparesis or upper limb motor impairment, which significantly constrains post-stroke patients’ ability in performing activities of daily living. To address these challenges, rehabilitative exoskeletons are designed for supporting the recovery process. FloatEVO, the reworked version of Float upper limb exoskeleton, has 7 degrees-of-freedom allowing for the rehabilitation of scapular, glenohumeral, and elbow flexion movements.