An intact position sense is considered important for neuromotor recovery, but the available methods and protocols for its assessment are still limited. In the clinical practice it is generally tested trough a bimanual position matching test, that consists of replicating with one arm the angular positions of the other arm in space (intrinsic coordinates matching). However, the same test could be carried out by matching the hand location in space (extrinsic coordinates matching). Is there any difference between the procedures that may be relevant to the evaluation of position sense deficits? In this study we compared the performance of eight right handed subjects and two stroke survivors with left hemiparesis performing the test in the two conditions. A robotic manipulandum passively moved the left arm of the participants in twenty-four positions in the workspace. Subjects had to match the left arm position with their right arm either in intrinsic or extrinsic coordinates. The results show that all the subjects (impaired and controls) performed better when using the extrinsic paradigm.