Inclusion Criteria:  ≥19 years of age, ≤12 months post-stroke with lower extremity hemiparesis Able to walk ≥10 meters with or without a gait aid and without physical assistance of another person Can tolerate 50 minutes of activity (including rest breaks) Has cognitive-communicative ability to participate, per clinical judgement Able to provide consent Has a caregiver, friend, or family member available to provide physical support during the assessment sessions  Exclusion Criteria:  Currently participating in formal in- or out-patient stroke rehabilitation focusing on lower extremity training Living in long-term care Severe vision or hearing loss Significant musculoskeletal or other neurological conditions Not medically stable Comorbidities (e.g. limb amputation), pain or other symptoms that significantly impact lower extremity function Planned surgery that would preclude or affect participation in the protocol