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We recruited nine chronic stroke survivors with upper limb impairments and fifteen healthy controls, who performed a series of tasks designed to evoke muscle synergies through various spatial explorations. These tasks included an isometric force task, a dynamic reaching task, the clinical Fugl-Meyer (FM) assessment, and a pinch task. Electromyographic data from 16 upper limb muscles were collected during each task, alongside intermuscular coherence (IMC) measurements during the pinch task to assess neuromuscular connectivity. The findings confirm that motor impairment is inversely related to the diversity of muscle synergies, with fewer synergies and more stereotypical synergy structures observed post-stroke. The study further reveals that the nature of motor tasks significantly affects the number of identifiable muscle synergies, with less constrained tasks revealing a broader array of synergies. 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