Inclusion Criteria:  Unilateral lower extremity paresis Hemorrhagic or ischemic stroke A minimum of six months after the acute infarction/onset of the disease Full passive range of motion in lower extremity or at least at neutral position Be able to stand freely Be able to walk with or without aid for at least 20 meters in less than 2 minutes  Exclusion Criteria:  Peripheral nervous system pathology Epilepsy Weight over 100 kg No cognitive ability to follow the study instructions Pregnancy Use of implanted devices Instable lower extremity joints or fixed contracture