Objective This pilot study investigates the use of telerehabilitation to improve upper limb performance in chronic stages of stroke recovery. Design Intervention study with pre/post/one month follow-up tests. Methods Seven adults with chronic stroke participated in the study. Tests consisted of lab-based clinical and kinematic assessments. Participants completed the Upper Limb Training and Assessment (ULTrA) program at home. Training was 5 days/week, 60 min/day for 6 weeks with intermittent supervision of participants. Results Participants showed improvements in the training program tasks as well as clinical and kinematic assessments. Results also suggest there may be auxiliary benefits in cognitive function. Conclusions A home-based telerehabilitation program is a viable approach to provide rehabilitation in chronic stages of stroke.