Inclusion Criteria:  Age 18 - 80 years old Stroke event occurred at least 6 months ago Observable gait deficits Gait speed equal to or less than 1 m/s Able to walk without the support of another person for at least 6 minutes (may use an assistive device as needed, but without use of an ankle foot orthosis or brace) Passive ankle dorsiflexion range of motion to neutral with the knee extended (i.e., able to achieve an angle of 90 degrees between the shank and the foot) Resting heart rate between 40 - 100 bpm, inclusive Resting blood pressure between 90/60 and 170/90 mmHg, inclusive  Exclusion Criteria:  Score of >1 on question 1b and >0 on question 1c on the NIH Stroke Scale Inability to communicate with investigators Neglect or hemianopia Actively receiving physical therapy for walking History of cerebellar strokes Known recurring or repeating strokes Unexplained dizziness in the last 6 months Pressure ulcers or skin wounds located at human-device interface sites Other medical, orthopedic, and neurological conditions that prevent full participation in the research