Table 1 Inclusion and exclusion criteria

Inclusion criteria

 Patients presenting a first-ever ischemic or intracerebral hemorrhagic stroke

 A CT scan and/or MRI to exclude other pathologies

 Lesion localization by clinical symptoms/signs

 Moderate to mild proximal upper limb motor impairment (MRC ≥ 2) and/or moderate to severe non-fluent aphasia (Barcelona test or equivalent)

 Age 20–85 years old

 Able to sit on a chair or a wheelchair interacting with RGS during a full session and be capable and willing to participate in RGS therapy

Exclusion criteria

 Presence of a condition or abnormality that, in the opinion of the investigator, would compromise the safety of the patient or the quality of the data

 Severe cognitive capabilities preventing the execution of the experiment (MoCA < 19), but the final decision is under the clinician’s criterion

 Arteriovenous malformation or lesions not related to a stroke

 Severe associated impairment such as proximal but not distal spasticity, communication disabilities (sensory, Wernicke aphasia, or apraxia), major pain or other neuromuscular impairments, or orthopedic devices that would interfere with the correct execution of the experiment (Modified Ashworth Scale < 3)

 Unable to use RGS independently according to the clinician’s observations and lacking support from a caregiver to use RGS

 Refusal to sign the informed consent form

 Pre-stroke history of upper limb motor disability