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Reaching-to-grasp is a vital skill to be relearned following stroke. Robotic aided stroke rehabilitation reduces motor impairment but has is limited in improving ADL function. We present a case study examining the feasibility of a custom developed glove to provide grasp assistance in a robotic therapy environment dedicated to the practice of real activities, ADLER. The case study consists of three subjects, a high functioning, and a low functioning stroke subject and a healthy subject. Results suggest that the glove system was able to providing grasp-assistance and that it was capable of collecting grasp aperture information during reach to grasp activities.