Table 1 Descriptions of the required upper limb movements for motion tasks

Horizontal

A participant was instructed to grasp a sponge that was placed on one side of a table near the paretic side of the participant, transport the sponge 50 cm horizontally (i.e., horizontal transportation phase I), release it, grasp it again, move it back to the starting point (i.e., horizontal transportation phase II), and release it

Vertical

A participant was instructed to grasp the sponge on the table surface, lift it up (i.e., vertical transportation phase I), place it on the top of the shelf (with a vertical distance of 18 cm), grasp it again, place it back on the table surface (i.e., vertical transportation phase II), and release it