Eligibility Criteria

Inclusion Criteria

- Patients after a first-ever ischemic or hemorrhagic stroke
- Outpatients or leaving inpatients 3 months after stroke
- Ability to stand with or without a cane for at least 30 sec on a normal hard floor
- Ability to walk for 20 metres with or without a cane or an orthosis
- MMSE with at least 20 points
- Age older than 18 years
- Signed written informed consent

Exclusion Criteria

- Joint replacements (knee, hip, shoulder)
- Limiting pain in the upper or lower body
- Limiting range of motion (ROM) in the hip, knee, ankle joint or toes
- Body weight more than 90 kilograms
- Compromised mental capacity to give written informed consent