Inclusion Criteria Ischemic or haemorrhagic stroke that lead to hemiplegic gait  Exclusion Criteria:  Acute musculoskeletal diseases Peripheral vascular diseases Acute cardiopulmonary diseases Acute neurological diseases Excessive spasticity in any joint of the lower limb (Ashworth scale> 2) Joint mobility restriction of lower limb joints due to any cause Pain due to impaired mobility of the lower limb Inability to use robotic exoskeleton prototypes due to his/her health condition.