Inclusion Criteria- Stroke within 3-72 months.
- Mild-to-moderate residual gait deficits after the index stroke with preserved capacity for ambulation without or with an assistive device (e.g., walker, cane) or orthotics (e.g. AFO).
Main exclusion Criteria:
- Unstable cardiac or other medical condition or aphasia, dementia or other significant neurological disease limiting ability to train.