Following stroke, 30% of patients are left with a "hemiplegic" upper limb meaning that they are unable to carry out any movements with the limb and are thus partially or totally dependent for all activities of daily living (dressing, washing, feeding etc). Another 40% have some proximal recovery. These patients are able to carry out some movement of the shoulder and sometimes the elbow. They can use the limb for some activities of daily living such as carrying a bag or stabilising paper while writing. The last 30% recover a certain degree of prehension, however their motor control is altered and they have impairments of both the reaching and grasping phases.