Inclusion Criteria:  Age 18 years or older Able and willing to give written consent and comply with study procedures At least 6 months' post-stroke Hemiplegia secondary to a single stroke Functional Ambulation Category of 2 or greater - i.e., subject needs continuous or intermittent support of one person to help with balance and coordination. Not currently receiving regular physical therapy services Physician approval to participate  Exclusion Criteria:  Ataxia Multiple stroke history Currently taking a Selective Serotonin Reuptake Inhibitor (SSRI) or Tricyclic antidepressant (TCA) Botox injection in lower extremity within the last 4 months Modified Ashworth score of 3 or greater in lower extremity Pregnant or nursing Using a powered, implanted cardiac device for monitoring or support of heart function (i.e. pacemaker, defibrillator, or LVAD) or anti-spasticity implantable pumps Active pressure sores Unhealed bone fractures Peripheral neuropathies Painful musculoskeletal dysfunction due to active injuries or infections Severe contractures in the lower extremities Medical illness limiting the ability to walk Active urinary tract infection Clinically significant depression, psychiatric disorders, or ongoing drug abuse  TMS-Specific Exclusion Criteria: TMS will be utilized for both Aims. The sub-set of participants who meet these criteria will participate in this component of the studies.  Medicated with agents known to increase (e.g., amphetamines) or decrease motor system excitability (e.g., lorazepam) Implanted cardiac pacemaker Metal implants in the head or face Suffers unexplained, recurring headaches Had a seizure in the past unrelated to the stroke event, or has epilepsy Skull abnormalities or fractures A concussion within the last 6 months Cardiorespiratory or metabolic diseases (e.g. cardiac arrhythmia, uncontrolled hypertension, diabetes, or chronic emphysema)