The effect of gravity increases the expression elbow/shoulder synergy patterns results in discoordination during movements following stroke. The Arm Coordination Training 3-D (ACT3D) robotic system is a novel way of recording movement patterns while a subject generates varying amounts of shoulder abduction torque. This system is used to provide preliminary data that show reduced elbow extension and shoulder flexion capabilities as shoulder abduction requirements increase resulting in reduced work area at high shoulder abduction levels. Single subject data is highlighted to illustrate the application of an intervention aimed at progressively training subjects to overcome the effects of abnormal joint torque coupling on reaching abilities.