Inclusion Criteria:  Ischemic or hemorrhagic stroke (8 months post stroke) Available medical records and radiographic information about lesion locations Hemiparesis Some degree of both shoulder and elbow movement capability A "moderate" impairment (Fugl-Meyer score between 15-50)  Exclusion Criteria:  Individuals under the age of 18 Bilateral paresis Shoulder pain and/or articular rigidity on the upper limb joint Spasticity (Modified Ashworth Scale of 2) Botox injection to the affected upper extremity within the previous 4 months Aphasia, cognitive impairment, or affective dysfunction that would influence the ability to perform the experiment