 - Experienced a stroke resulting in mild to moderate hemiparesis some residual motor function, e.g. able to pick up a washcloth placed flat on a table at least 6 months prior to enrollment. Suggested active range of motion criteria for this level of impairment include: 45 shoulder abduction and flexion, 20 elbow extension, 20 wrist extension, and 10 extension of thumb and fingers. 