40M people will lose the ability to move one hand following a stroke. Yago (Your Assistive Grasp Orthosis) is a portable assistive device that can both actively open and close the hand to support grasping for people with hand motor impairments. Yago aims to enable independence in activities of daily living and promote recovery through intensive and functional use of the hands. By exploiting healthcare IoT and by partnering with eHealth providers, Yago will become a telemedicine tool for remote stroke care.