Inclusion Criteria:  Experience of a stroke at least 6 months prior to participation Self-reported experience of a fall in the previous year, and/or a fear of falling Gait speed of at least 0.2 m/s Ability to walk on a treadmill without a cane or walker Provision of informed consent  Exclusion Criteria:  Evidence of cerebellar damage Resting blood pressure higher than 220/110 mm Hg History of unstable cardiac arrhythmias, hypertrophic cardiomyopathy, severe aortic stenosis, angina or dyspnea at rest or during activities of daily living Preexisting neurological disorders or dementia Legal blindness or severe visual impairment History of DVT or pulmonary embolism within 6 months Uncontrolled diabetes with recent weight loss, diabetic coma, or frequent insulin reactions Orthopedic injuries or conditions (e.g. joint replacements) in the lower extremities with the potential to alter the gait pattern