Background/Objectives: Upper limb rehabilitation in chronic stroke is often suboptimal, and somatosensory integration is frequently neglected. The aim of this study was to investigate the feasibility and potential effects of an integrated sensorimotor therapy. Methods: Individuals with chronic stroke and persistent sensorimotor and functional upper limb deficits were included. For four weeks, participants received standard care (control), followed by 48 h of integrated sensorimotor upper limb therapy (ROBUST) over four weeks in addition to their standard care (intervention). ROBUST combined robotic, therapist-led, and home exercises. Feasibility was assessed through adherence, motivation, experiences, and adverse events. Potential effects of the intervention were evaluated via a multimodal assessment approach at baseline (T1), post-control (T2), and post-intervention (T3), with the Action Research Arm Test (ARAT) as the primary outcome. Results: Ten participants were included in this study, of whom nine completed the protocol. Therapy session adherence was 100%, and home program adherence 67%. Motivation remained stable over the intervention period, participants were positive, and no adverse events occurred. Six participants (67%) improved more than the minimal clinically important difference for ARAT, with further relevant improvements in clinical, kinematic, and patient-reported outcomes observed. Conclusions: The novel integrated sensorimotor upper limb therapy (ROBUST) is feasible and shows promising potential for people after stroke in the chronic stage. A randomised controlled trial is warranted. Trial registration: (identifier: NCT06870682).