Inclusion Criteria:  Age group: 18-90 years.  Presence of hemiparesis. Onset of stroke (> 6 months). Ability to walk independently with or without an assistive device for at least 300 ft. Can understand and communicate in English. Cognitively and behaviorally capable of complying with the regimen (Montreal Cognitive Assessment > 25/30).  Exclusion Criteria:  Subjects will not proceed with the test if any of the following occurs at baseline measurement: 1) HR > 85% of age-predicted maximal heart rate (HRmax) (HRmax = 220 - age), 2) systolic blood pressure (SBP) > 165 mmHg and/or diastolic blood pressure (DBP) > 110 mmHg during rest, or 3) oxygen saturation (measured by pulse oximeter) < 95% during rest.  Body weight more than 250 lbs. Any neurological condition other than stroke. Any cardiopulmonary, musculoskeletal, or systemic diagnosis. Recent major surgery (< 6 months) or hospitalization (< 3 months). Deep venous thrombosis. Antecedent of cancer. Peripheral nerve injury or neuropathy in the affected limb with motor disability. Spasticity (Ashworth scale > 2). Uncontrolled high blood pressure/angina. Skin condition not tolerant with FES therapy. Uncontrolled seizure disorder. Botox treatment within the last 5 months. History of epilepsy. Pacemaker users.  Excluded or Vulnerable Populations Non-English speaking populations will be excluded as the consent procedures and instructions will be in English.