Investigating the Impact of Afferent Stimulation on Proprioceptive Function in Post-Stroke Rehabilitation

Inclusion Criteria: * For healthy subjects: 1. No neurological or orthopedic conditions affecting upper limb movement. 2. No surgical interventions on the upper limbs within the past 6 months. 3. General physical condition adequate to perform the session. 4. Cognitive abilities sufficient to understand and carry out the experimental procedure. * For stroke survivors: 1. Ischemic or hemorrhagic stroke resulting in motor impairments in the upper limb. 2. Chronic stroke condition. 3. Subjects with sufficient cognitive abilities to follow instructions and actively participate in the therapy. 4. Mini-Mental State Examination (MMSE) score \> 24. 5. Subjects presenting hemiparesis and mild-to-moderate impairment in the upper limb (score on the Fugl-Meyer Motor Assessment for the upper limb, sections A-D, between 35 and 53 points). The maximum score on the FM scale is 66, with the following severity classifications: * 0-15: severe impairment * 16-34: moderate-to-severe impairment * 35-53: mild-to-moderate impairment * 54-66: mild impairment 6. Subjects presenting upper limb hypertonia with a score below 3 on the Modified Ashworth Scale. 7\. Subjects who have signed the informed consent document to voluntarily participate in the experiments. Exclusion Criteria: 1. Acute musculoskeletal disorders. 2. Peripheral vascular diseases. 3. Acute cardiopulmonary conditions. 4. Acute neurological disorders. 5. Restricted mobility of upper limb joints due to any cause. 6. Pain as a cause of impaired upper limb mobility.