Inclusion Criteria:  Age >18 Diagnosis of PAD (based on ABI <0.9 in either leg or prior intervention) with mild/moderate claudication  Exclusion Criteria:  Prior above ankle amputation Wheelchair bound Inability to walk >200m during 6 min walk test Use of walking aid other than cane Walking impairment for reason other than PAD Critical limb ischemia Planned vascular surgery within next 3 months, recent surgery within past 3 months