Two groups of 8 stroke subjects will participate in an A-B-A design in which data from post-intervention (within one week of the completion of the intervention) and follow-up (one month after the completion of the intervention)tests will be compared to data from two pre-tests (held at beginning and end of the first week of the study just prior to the start of the intervention). Multiple clinical and kinematic motor performance outcomes will be measured to determine which ones best describe arm motor recovery. This will be done by comparing changes in outcomes before and after training to mean scores of 8 age- and gender-matched healthy volunteers (recorded in a single session). Stroke survivors will practice movement in two different training environments providing different levels of motivation and feedback: Training Environment 1 will be created in a 2D video-based VR environment that will provide high motivation, Knowledge of Results (KR) about motor outcome (i.e., speed, precision) and non-specific Knowledge of Performance (KP) feedback about trunk movement. Environment 2 will be created in a physical environment that provides only KP feedback but no KR or additional motivation.