Functional electrical stimulation (FES) has been used for neurorehabilitation of individuals with paralysis due to spinal cord injuries or stroke aftereffects. The biceps brachii is often adopted in studies on FES because of the ease of stimulation, while there are few studies on the triceps brachii. Stimulation of the triceps brachii is important because the biceps brachii tends to be spastic. The aim of this study is to investigate the position shift of the motor points (MPs) of the three main muscle groups in triceps brachii with respect to the elbow joint angle, and the contraction force of the muscle groups. Firstly, MPs were measured in 6 healthy individuals using an MP pen at 5 elbow joint angles. The MPs of the long and lateral heads shifted distally and laterally, and the MPs of the medial head shifted distally and medially as the arm extended. The MPs of the long head shifted farthest of all. Secondly, the contraction force was measured in 9 healthy individuals using a force gauge at elbow joint angle of 90 degrees. Three different voltages were applied: 4, 8, and 12 V. The results showed that the medial head yields a sufficient contraction force although the medial head is situated deeper than the other two muscle groups. These findings will help to better understand the stimulation of the triceps brachii and improve the efficiency of electrical stimulation therapy.