Inclusion Criteria:  diagnosis of HIV infection currently treated with antiretroviral therapy (ART) cluster of differentiation 4 cell (CD4 cell) count of at least 200 cells/mm3 18-64 years of age able to read and write in English means to travel to a study site Additional inclusion for cohort with painful neuropathy in the feet: presence of peripheral neuropathy symptoms in feet average daily self-reported pain in the feet of at least 3/10 on a 0-10 numerical pain scale pain in the feet present for at least the past 3 months no changes in medications used to manage pain in the past 4 weeks  Exclusion Criteria:  current opportunistic infection(s) cluster of differentiation 4 cell (CD4 cell) count <200 cells/mm3 dementia uncontrolled psychiatric disorder wounds or sores on the feet musculoskeletal or neurological conditions (other than distal sensory neuropathy) that may affect gait diabetes pregnancy