This dataset contains upper limb kinematics of twenty chronic stroke-subjects and five healthy control subjects that were collected within a cross-sectional, observational study (Clinicaltrials.gov Identifier: NCT03135093). Participants were measured when performing a set of 30 daily living activities, including gesture movements, grasping actions and tool-mediated upper limb activities. Kinematic parameters were captured by use of inertial sensing and stored in software specific XML file format (.mvnx) allowing import to programs such as MATLAB and Microsoft Excel. Each mvnx-file represents one trial execution and is named according to the participant ID, task number, tested upper limb and repetition. This data collection is part of a large multimodal dataset collected and shared between collaborators of a European project under grant agreement No.688857.