In this study we attempted to identify principles that govern the changes in neural control that occur during repeated performance of a multi-articular coordination task. Eight participants produced isometric flexion/extension and pronation/supination torques at the radio-humeral joint, either in isolation (e.g. flexion) or in combination (e.g. flexion-supination), in order to acquire targets presented via a visual display. A cursor superimposed on the display provided feedback of the applied torques. During pre- and post-practice tests, the participants acquired targets in eight directions located either 3.6cm (20% MVC) or 7.2cm (40% MVC) from a neutral cursor position. On each of five consecutive days of practice the participants acquired targets located 5.4cm (30% MVC) from the neutral position. EMG was recorded from eight muscles contributing to torque production about the radio-humeral joint during the pre-and post-tests. Target acquisition time decreased significantly with practice in most target directions and at both target torque levels. These performance improvements were primarily associated with increases in the peak rate of torque development following practice. At a muscular level, these changes were brought about by increases in the rates of recruitment of all agonist muscles. The observed adaptations appear to lead to performances that are generalisable to actions that require both greater and smaller joint torques than that practised, and may be successfully recalled following a substantial period without practice. These results suggest that tasks in which performance is improved via increased rates of muscle activation may benefit in terms of the prolonged maintenance of acquired skill levels.