Inclusion Criteria:  Adults (>18 years old) who are receiving inpatient rehabilitation for stroke < six months post-stroke have the goal to improve walking function provide written consent will participate in the study.  Exclusion Criteria:  inability to consent use of bracing or instrumentation (e.g. ventilator) that limits walking independence in walking outdoors and on stairs (Functional Ambulation Category (FAC) at admission = 5) uncontrolled cardiopulmonary, metabolic, infectious or psychiatric disorders