Proprioception - the sense of body awareness - is frequently impaired after stroke. Clinical tests used to detect proprioceptive impairments require substantial amounts of time and lack sensitivity. In contrast, robotic devices demonstrated that they can objectively assess subjects' proprioceptive acuity. We here present results of a robot-aided bimanual test for wrist proprioception. Ten acute stroke patients with hemiplegic arm weakness and ten healthy subjects, participated to the experiment. Subjects actively moved the wrist of the unaffected limb to match the reference position of the affected wrist, which was passively displaced by the robot to a target across six directions. Our results are as follows. First, healthy individuals showed no effect of hand dominance. No acuity differences were found for between dominant or non-dominant hand. Second, the matching error varied significantly across movement directions. Third, subjects with stroke were less accurate than healthy individuals in matching the wrist position. Fourth, the assessment is clinically feasible. Stroke patients completed the test in about 8 minutes. We conclude that assessment of proprioception in stroke should map positions at different joint degrees of freedom to detect underlying proprioceptive abnormalities.