Robotic Balance Training for Stroke Recovery

Inclusion Criteria: 1. Aged between 18-75 years 2. Diagnosed with a cortical/subcortical ischemic stroke at least 6 months before the screening, as confirmed by the neurological exam or an MRI. 3. Have complaints of impaired balance and poor postural control determined by a BBS score of ≤50. 4. Ability to stand upright with or without support for at least 20 seconds 5. Ability to walk with or without a walking aid for at least ten meters 6. Not planning to change medication in the next four months 7. Minimum Cognitive Ability to understand the verbal instructions and comply with the study procedures, as determined by the University of California, San Diego, Brief Assessment of Capacity to Consent Instrument (UBACC). Exclusion Criteria: 1. Currently undergoing any regular physical therapy program or research studies focusing on balance functions. 2. Having a brainstem stroke. 3. Contraindication for MRI scan (presence of metal implants, claustrophobia) 4. Affected by the peripheral nerve injury, neuromuscular conditions, or orthopedic issues of lower limbs before stroke, or have any persistent pain or difficulty maintaining blood pressure while upright. 5. Have a scalp or skin condition (e.g., psoriasis or eczema) \* on the scalp near the stimulation site 6. Having severe visual impairment (e.g., spatial neglect) or hearing problems that may affect study compliance 7. Any other neurological injury or psychiatric conditions (e.g., severe anxiety or schizophrenia etc.) 8. Contraindications to MRI, including the presence of non-titanium metallic implants, claustrophobia, etc. 9. Not be pregnant or thinking of becoming pregnant 10. Diagnosed with alcohol or substance abuse in the last 3 years 11. Contraindications to TMS, including the presence of metallic implants in the head and a history of seizures or medication-resistant epilepsy or ongoing use of anti-seizure/seizure threshold-lowering medications.