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Individuals post stroke experience motor impairments, such as loss ofindependent joint control, leading to an overall reduction in arm function.Their motion becomes slower and more discoordinated, making it difficult tocomplete timing-sensitive tasks, such as balancing a glass of water or carryinga bowl with a ball inside it. Understanding how the stroke-induced motorimpairments interact with each other can help design assisted training regimensfor improved recovery. In this study, we investigate the effects of abnormaljoint coupling patterns induced by flexion synergy on timing-sensitive motorcoordination in the paretic upper limb. We design a virtual ball-in-bowl taskthat requires fast movements for optimal performance and implement it on arobotic system, capable of providing varying levels of abduction loading at theshoulder. We recruit 12 participants (6 individuals with chronic stroke and 6unimpaired controls) and assess their skill at the task at 3 levels of loading,defined by the vertical force applied at the robot end-effector. Our resultsshow that, for individuals with stroke, loading has a significant effect ontheir ability to generate quick coordinated motion. With increases in loading,their overall task performance decreases and they are less able to compensatefor ball dynamics---frequency analysis of their motion indicates that abductionloading weakens their ability to generate movements at the resonant frequencyof the dynamic task. This effect is likely due to an increased reliance onlower resolution indirect motor pathways in individuals post stroke. Given theinter-dependency of loading and dynamic task performance, we can createtargeted robot-aided training protocols focused on improving timing-sensitivemotor control, similar to existing progressive loading therapies, which haveshown efficacy for expanding reachable workspace post stroke.

Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabilitation