This chapter addresses the increasing prevalence of neuromotor disabilities, particularly upper-limb impairments following stroke. It emphasizes the potential of robotic-assisted therapy to improve accessibility and rehabilitation intensity while fostering patient engagement. Biocooperative strategies, which integrate physiological signals into the control loop, are reviewed as a means to encourage active participation and enhance neural plasticity. However, current limitations, including the high cost and limited reliability of physiological acquisition systems, underscore the need for low-cost, and robust embedded platforms to support wider clinical adoption.