Inclusion Criteria:  greater than 6 months post-stroke passive abduction to 90 degrees at shoulder reduced active (retro)flexion/extension at shoulder when abducted at 90 degrees reduced active flexion/extension at elbow  Exclusion Criteria:  unable to give informed consent unable to comprehend and follow instructions have a condition (other than stroke) affecting sensorimotor function show evidence of unilateral spatial neglect unable to sit in a chair without armrests for 2 hours