Inclusion Criteria:  Diagnosis of hemiparesis and spasticity secondary to stroke with upper and lower limb spasticity and unilateral motor and/or sensory deficit No prior surgery to the lower limb Able to walk at least 10 meters without physical assistance from another person and without an assistive device Toe- ground clearance during swing phase without assistive device or orthoses No treatment with botulinum toxin within the past 4 months  Exclusion Criteria:  Passive range of motion at either the ankle, knee, or elbow joint less than 30 degrees Participants with uncorrected hearing impairment Weight bearing restrictions due to concurrent orthopedic injuries that would make ambulating with or without an assistive device unsafe Speech language expression deficit (e.g., aphasia) Absence of proprioception upon neurologic examination Presence of fixed contractures in the upper or lower extremities not correctable to neutral Other confounding neurological diagnoses or active acute illness (cancer, Parkinson's disease, multiple sclerosis)