Inclusion Criteria:  Unilateral stroke Stroke occurred more than 6 months prior Paresis confined to one side Independently ambulatory (including the use of assistive devices) Able to walk for 5 minutes without stopping Answers no to all general health questions on the PAR-Q+ Willingness to complete study procedures  Exclusion Criteria:  Brainstem or cerebellar stroke Aphasia (expressive, receptive, or global) Any major musculoskeletal or non-stroke neurological condition that interferes with the assessment of sensorimotor or cognitive function Metal in the head (except in the mouth), implanted cranial or thoracic devices that violate MRI safety regulations Uncontrolled hypertension (>160/110mmHg) Concurrent physical therapy Claustrophobia Significant cognitive deficit or dementia (<20 on MoCA) Inability to give informed consent