ABSTRACT Coordinated reaching requires continuous interaction between the efferent motor output and afferent feedback; this interaction may be significantly compromised following a stroke. The authors sought to characterize how survivors of stroke generate continuous, goal-directed reaching. Sixteen survivors of stroke completed functional testing of the stroke-affected side and a continuous reaching task between 2 targets with both sides. Motion analysis and electromyography data were collected to determine segmental contributions to reach (e.g., amount of compensatory trunk), spatiotemporal parameters (e.g., peak velocities), and muscle activation patterns (MAP). Repeated measures analyses of variance compared how survivors of stroke reach with the stroke-affected versus less affected sides. Correlations were determined between kinematic outcomes and functional ability. Participants used significantly more trunk movement and less shoulder flexion and elbow extension when reaching with the stroke-affected side. This corresponded with less muscle activity in the proximal musculature including the anterior, middle, and posterior deltoid on the stroke-affected side. There were significant correlations between the segmental contributions to reach, functional ability, and MAPs. Survivors of stroke generate reduced MAPs in the stroke-affected side corresponding to altered segmental kinematics and function ability. These findings suggest that impairments in the ability to generate sufficient MAPs may contribute to the difficulty in generating continuous reaching motions.