Post-stroke Gait Rehabilitation Using the SHAJA-R Exoskeleton

Inclusion Criteria: * cerebral stroke, at least 3 months from cerebral event * ability to ambulate with no more than minimal contact assistance, even with aids (Functional Ambulation Classification, FAC \>= 43) * self-selected walking velocity in the range \[0.3-0.85\] m/s * anthropometry consistent with the specifications of the tested devices * gait impairments that may benefit from hip assistance, e.g. hip weakness in flexion and/or extension (Medical Research Council, MRC, Scale for Muscle Strength \>2 and \<5 for flexion and extension) Exclusion Criteria: * Modified Ashworth Scale \>3 at the hip and/or ankle joints * Poor cognitive skills (corrected Mini-Mental State Examination, MMSE \< 21) * inability to follow verbal 3 step commands * severe aphasia causing inability to communicate with the investigators * serious medical conditions (recent myocardial infarction in less than 3 months, uncontrolled congestive heart failure (CHF), uncontrolled hypertension, uncontrolled seizures) * leg deep vein thrombosis less than 6 weeks ago * other pre-existing neurological disorders (Parkinson's disease, Amyotrophic Lateral Sclerosis, Multiple Sclerosis, Dementia) * severe anxiety or depression (State-Trait Anxiety Inventory-Y, STAI-Y \> 44, and the Beck Depression Inventory-II, BDI-II \> 19) * severe osteoporosis * severe hip / knee osteoarthritis with limitation of movement or significant pain * use of a colostomy bag * skin wounds, infection, or problems at device contact locations * major orthopaedic surgery or fractures within the last 90 days (hip, knee, ankle, foot, spine) * cardiac surgery within the last 3 months * patient has recently or is currently participating in research that may influence, in PI's opinion, responses to study intervention * pregnancy * implanted cardiac devices, such as pacemakers or automatic defibrillators (AICD) * use of assistive device that, in the PI's opinion, could interfere with SHAJA