Table 1 Inclusion and Exclusion Criteria

1. Diagnosis of ischemic or hemorrhagic stroke*

2. Ambulatory with or without an assistive device Δ

3. Persistent lower extremity hemiparesis with a score of < 34 on the lower extremity subscale of the Fugl-Meyer

4. Gait speed > 0.40 m/s

5. Paretic leg peak knee flexion < 55 degrees

1. Neurological condition or injury other than stroke

2. Uncontrolled hypertension (> 190/110 mmHg)

3. Cerebellar signs or evidence of cerebellar involvement*

4. Pregnancy Δ

5. Orthopedic or other medical condition that could compromise walking performanceΔ

6. Unable to give informed consent

7. Unilateral spatial neglect (Star Cancellation Test score < 44/54)