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Over four million Americans are affected by stroke. Current theories of stroke rehabilitation point towards paradigms of intense, concentrated use of the afflicted limb as a means for motor program reorganization and partial function restoration. A home system for stroke rehabilitation to train recovery of hand function has been designed and deployed in a research study. The system measures finger and wrist flexion and extension motions on both hands. Patients use joint motion to control the cursor on a screen in a concentrated tracking task for several hours each day over the course of 10 days. A telecomponent was added so that a therapist can check in with the patient and monitor progress. Fifteen patients have used the system in their homes. The equipment has been reliable and patients have generally responded that the system is easy to use.