This paper reviews a clinical trial involving 20 stroke patients using a prototype robot-aided rehabilitation facility developed at MIT and tested at Burke Rehabilitation Hospital. The study aimed to assess the safety, tolerance, and potential benefits of robot-aided therapy for stroke recovery. The MIT-MANUS robot, designed for safe and compliant operation in close physical contact with humans, was used to guide patients through a series of video-games that required movement of the impaired limb. The results showed no adverse effects, and patients tolerated the procedure well. The study also found that peripheral manipulation of the impaired limb influenced motor recovery, suggesting that robot-aided therapy can positively impact neurological restoration. Additionally, the paper presents an approach to analyze kinematic data collected during the robot-aided assessment procedure, using a method based on the quantization of kinematics to understand the recovery process. The findings indicate that robot-aided therapy can improve motor function and may lead to better tools for evaluating and understanding recovery mechanisms.This paper reviews a clinical trial involving 20 stroke patients using a prototype robot-aided rehabilitation facility developed at MIT and tested at Burke Rehabilitation Hospital. The study aimed to assess the safety, tolerance, and potential benefits of robot-aided therapy for stroke recovery. The MIT-MANUS robot, designed for safe and compliant operation in close physical contact with humans, was used to guide patients through a series of video-games that required movement of the impaired limb. The results showed no adverse effects, and patients tolerated the procedure well. The study also found that peripheral manipulation of the impaired limb influenced motor recovery, suggesting that robot-aided therapy can positively impact neurological restoration. Additionally, the paper presents an approach to analyze kinematic data collected during the robot-aided assessment procedure, using a method based on the quantization of kinematics to understand the recovery process. The findings indicate that robot-aided therapy can improve motor function and may lead to better tools for evaluating and understanding recovery mechanisms.