Error-Enhanced LearningError-enhanced Learning & Recovery in 2 & 3 Dimensions

Inclusion Criteria:

1. 18 years of age or older
2. Chronic stroke (8+ months post stroke event) with primary motor cortex involvement
3. Hemiparesis
4. Some degree of both shoulder and elbow movement capability

Exclusion Criteria:

1. Bilateral paresis
2. Severe tactile deficits using the Two-Point Discrimination Test (participant must detect<11mm)
3. Severe proprioceptive deficits
4. Severe spasticity (Modified Ashworth >3) preventing movement
5. Aphasia, cognitive impairment, or affective dysfunction that would influence the ability to perform the experiment
6. Visual deficits, and hemispatial neglect that would prevent the subjects from seeing the targets.
7. Inability to provide an informed consent
8. severe current medical problems
9. diffuse/multiple lesion sites or multiple stroke events
10. Inability to attain and maintain testing positions
11. Botox injection to the affected upper extremity within the previous 4 months
12. Concurrent participation in upper extremity rehabilitation either as part of a research intervention protocol or a prescribed therapy
13. Participation in previous, similar robotics intervention study
14. Other neurological issues

None of the following special populations will be included in this research study:

• Adults unable to consent
• Individuals who are not yet adults (infants, children, teenagers)
• Pregnant women
• Prisoners
• Vulnerable Populations