An Exploratory Study of a Wearable Robotic Hand Orthosis

Inclusion Criteria: * Patient with first ever clinical stroke (ischaemic or haemorrhagic) with hemiplegic motor deficit(s) due to stroke as diagnosed by CT or MRI. * Post stroke of at least 6 months with stable neurological status. * Age 21 to 80 years of age. * Hemiplegic pattern and shoulder abduction MRC motor power \> 2/5 and elbow extension \>2/5 * Has a stable home abode and a carer/NOK to assist with donning of device and supervise home based exercise * MOCA \> or equal to 22/30 * Able to give and sign informed consent at research site. * Able to speak English Exclusion Criteria: * Non-stroke related causes of arm motor impairment. * Has unstable or terminal medical conditions which may affect participation (e.g.: unresolved sepsis, postural hypotension, end stage renal failure, cancer, retroviral disease, on immunosuppressive therapy) or anticipated life expectancy of \<1 year due to malignancy or neurodegenerative disorder. * Local factors which may be worsened by intensive arm therapy: spasticity of Modified Ashworth Scale grades 3-4, skin wounds, shoulder pain Pain Scale \>5/10, active/non-united fractures or arthritis or fixed joint/tissue flexion contractures of shoulder, elbow, wrist or fingers incompatible with tenoexo interface. * Patient with severe cognitive, perceptual (include hemi-neglect), and/or emotional-behavioural issues that preclude participation. * Experiencing moderate to severe levels of pain (Numerical Vertical Pain Scale \> 5). * Is pregnant or breast feeding. Neither the tenoexo nor the IMUs have been tested to evaluate the usage with pregnant and/or breast feeding mothers. Further, due to the length of the study, pregnancy may make it difficult to follow the study schedule. * Have a pacemaker. Magnets are used throughout the system.