Poststroke characteristics vary significantly between patients and over time, necessitating the introduction of individualized therapy. To provide the appropriate therapy to a patient at the correct time, several theoretical consider-ations must be taken into account—from a clear delineation of rehabilitation goals to an understanding of how a certain therapy can influence the underlying neuro-plasticity. With regard to the differences between upper and lower limb motor recovery, both domains have experienced a change in perspective on rehabilitation.