Inclusion Criteria:  At least 6 months following an ischemic supratentorial stroke At least 21 years of age Exhibit residual capability to move the paretic UE (Upper Extremity Fugl- Meyer motor score >20/66) Able to follow a 2-step command (8th item on the MMSE test) Able to perform an unassisted arm reach movement of 25 cm ahead of the body within 5 seconds with trunk restraint Exhibit no greater than mild/moderate spasticity as assessed with a Modified Ashworth Score < 3  Exclusion Criteria:  any neurologic diagnoses other than stroke peripheral movement restrictions, such as neuropathy orthopedic disorders affecting the paretic UE severe pain or sensory/proprioceptive impairment in the more affected UE visual neglect (more than 4% of lines left uncrossed on Albert's test). had a stroke directly affecting the cerebellum any contra-indications to MRI scanning mostly resolved impairments with an Upper Extremity Fugl- Meyer motor score >58/66