Inclusion Criteria:  Age between 18 and 85 years Weight < 100 kg Height between 1.5 and 1.9 meters Anthropometric measurements to fit in the exoskeleton: Distance from the center of the knee joint to the ground: 42 - 55 cm Distance from the center of the knee to the groin fold: more than 28 cm. Perimeter in thigh (midpoint trochanter - epicondyle): 40 - 63 cm. Perimeter in calf (point of greater volume): 30 - 44 cm. Ability to follow simple commands and communicate basic needs Presence of unilateral hemiparesis Diagnosis of stroke confirmed with imaging tests. Sub-acute or chronic patients (time since diagnosis 1 month or more) Score on FAC scale from 1 to 4 Sufficient postural control to maintain standing posture and to take a step with the weight on the affected lower limb, manual assistance or technical aids being allowed  Exclusion Criteria:  Spasticity > 3 in lower limbs according to the MAS scale Skin alterations in the contact areas with the exoskeleton Planned surgical intervention during the duration of the study Two or more osteoporotic fractures in the lower limbs in the last 2 years Presence of other pathologies that cause exercise intolerance (such as uncontrolled hypertension, coronary artery disease, arrhythmia, congestive heart failure, Parkinson's, severe lung disease) Surgical operation in the 3 months prior to the start of the study on the lower limbs