"Rehabilitation, for patients, is fundamentally a process of relearning how to move to carry out their needs successfully" (Carr & Shepherd, 1987). This statement posits that at its core neurorehabilitation is motor learning, but despite this principle, research in motor learning has had little impact on stroke rehabilitation (Krakauer, 2006). Recently there has been an interest in developing and testing new methods to optimize upper extremity rehabilitation. Investigators at the Baltimore VAMC have pioneered task oriented training paradigms to improve mobility (Macko et al., 2005) in those with chronic stroke. As part of this programmatic approach novel upper extremity robotics training programs have been developed to improve reaching, and limb coordination. However, the majority of these interventions rely on error-based learning strategies during rehabilitation, which foster task-related explicit knowledge. However, a corpus of motor learning research indicates that this may not be the best strategy to optimize motor learning, and thus neurorehabilitation.