Loss of hand function is a common consequence for patients with stroke. Between 40-60% of these patients have somatosensory deficits. That is, they do not feel objects very well (tactile/haptic perception), and may have a reduced body awareness (proprioception). Proprioceptive dysfunction means that they do not or only imprecisely perceive the position and motion of limbs and body parts. As part of an NIH funded study, we here investigate the efficacy of a specialized robot-aided sensory training on proprioceptive and motor function of the wrist in stroke survivors. We use a robotic exoskeleton developed in collaboration with colleagues at the Italian Institute of Technology and Nanyang Technological University of Singapore to precisely assess and train proprioceptive and hand motor function.