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Background  Clinical scales are often used to evaluate upper-limb deficits. The objective of this study is to investigate the parameters during voluntary arm tracking at different velocities for evaluating motor control performance after stroke.    Methods  Eight hemiplegic chronic stroke subjects were recruited to perform voluntary movements of elbow flexion and extension by following sinusoidal trajectories from 30 deg to 90 deg at six velocities in the horizontal plane by completing 3, 6, 8, 12, 15, 18 flexion and extension cycles in 36 seconds in a single trial, and the peak velocities ranged from 15.7 to 94.2 deg/s. The actual elbow angle and the target position were displayed as real-time visual feedback. The angular displacement of the arm and electromyographic (EMG) signals of biceps and triceps were captured to evaluate the sensorimotor control of the affected and unaffected side.    Results  The results showed significant differences in the root mean square error (RMSE), response delay (RD) and cocontraction index (CI) when the affected and unaffected sides were compared during the arm tracking experiment (P<0.05). RMSE decreased with the increase in the tracking velocities for the affected and unaffected sides. And CI and RD increased with the increase in the tracking velocities for both sides. There was significant correlation between average RMSE of the six velocities and Fugl-Meyer shoulder-elbow score for the eight poststroke subjects.    Conclusions  The method and parameters have potential for clinical use in quantitatively evaluating the sensorimotor deficiencies for patients after stroke about the accuracy of motion, response delay and cocontraction between muscle pairs.

EMG and kinematic analysis of sensorimotor control for patients after stroke using cyclic voluntary movement with visual feedback