After a hemiparetic stroke, the contralesional upper limb is left with significant motor impairments including: weakness, spasticity, and abnormal joint torque patterns resulting in the flexion synergy (i.e. abnormal coupling between shoulder abduction and elbow/wrist and finger flexion). These impairments, and in particular the flexion synergy, limit ability to reach to the full extent of their limb workspace. Motor control of the trunk is also altered post stroke, with compromised ability to stabilize the trunk and excessive trunk movement during reaching, abnormal isometric torque coupling patterns in the transverse and sagittal planes and weakness. These motor impairments in both trunk and arm limit their ability to perform activities of daily living. While the effect of stroke on reaching has been studied extensively, less is known about the impact of deficits in trunk motor control on reaching ability and the impact of the flexion synergy on trunk postural control. Methods for investigating altered trunk control, specifically during a reach when concurrent loads that elicit the flexion synergy are imposed on the limb and trunk, are limited. Specifically, trunk deficits have yet to be studied in the context of the flexion synergy whereby loads imposed on the arm to elicit shoulder abduction have a negative impact on reaching and potentially on trunk posture. In order to address this gap, we developed a system that integrates a robotic device to simulate varied reaching environments, surface electromyography to measure primary trunk and arm muscle activity, and a two-camera motion capture system that uses reflective markers to measure trunk and arm movement. Feasibility and usability of the system was established during evaluation of reaching ability with varying levels of shoulder abduction loads while the trunk is either restrained or unrestrained in two participants with stroke and a healthy control.Clinical Relevance - The system presented here is capable of monitoring changes in trunk postural control after a hemiparetic stroke during a reaching task as a first step in furthering our understanding of changes in trunk motor control during reaching with the goal of developing more targeted and effective interventions for stroke rehabilitation.