Motor impairments are a common consequence after acquired brain injury and a major cause of disability. Specifically, upper limb paresis is among the most significant deficits and represents an important obstacle for independence. Impairment of upper limb motor function is present in more than 80% of stroke survivors, and moderate dexterity after six months is only expected in 30 to 40% of the cases. Recovery of motor function after a brain injury involves neural reorganization of spared areas in both hemispheres to take over functions previously driven by the injured areas. However, reorganization is not driven by mere repetition. It only occurs when experience implies learning. Therefore, it can be deduced that motor rehabilitation should focus on driving plasticity by experiences that mean a challenge for the motor skills of the patients. In addition, motor learning principles, such as intensity, repetition, task-orientation, and feedback have proven to modulate the functional improvement after stroke.