Proprioceptive deficits are common among stroke survivors and are associated with slower motor recovery, poorer upper limb motor function, and decreased self-care ability. Somatosensory feedback augmenting proprioception should enhance motor control after stroke, but available evidence is inconclusive. This study evaluated the effects of a robot-aided, somatosensory-focused training on proprioceptive acuity and motor performance in individuals with sub-acute and chronic stroke. Twelve stroke survivors completed two training sessions on two consecutive days. During training, participants used a haptic robotic wrist exoskeleton and made continuous, goal-directed wrist ab/adduction movements to a visual target while receiving vibro-tactile feedback. Proprioceptive acuity and active movement errors were assessed before, immediately after, and two days after intervention. Results showed significantly improved proprioceptive acuity at posttest and retention. Motor accuracy measures showed improvements, however these were not statistically significant. This study demonstrates the feasibility of robot-aided somatosensory rehabilitation training in stroke survivors.