This was a pilot randomized controlled trial carried out to determine feasibility of a randomised controlled trial (RCT) of home-based Reach-to-Grasp training after stroke. objectives were: 1. Estimate recruitment rates and retention of participants. 2. Measure outcomes for both groups to obtain information to determine the sample size for a definitive trial and to estimate the completeness of outcome data. 3. Determine the dose and content of upper limb treatment delivered to both intervention (Reachto- Grasp) and control (usual care) groups. 4. Decide on the most appropriate primary outcome measure, the Action Research Arm Test (ARAT) or the Wolf Motor Function Test (WMFT), for use in a definitive trial. 5. Capture adverse events in both groups. 6. Collect data on health and social care resource use to inform data-collection methods for an economic evaluation in the subsequent definitive trial of clinical and cost effectiveness. The study was funded by The Stroke Association. Recruitment was from Dec 2011 until April 2013