Exoskeleton for Balance

Inclusion Criteria: * Evidence of a stroke at least 6 months prior to participation * Evidence of dysfunction of the paretic lower limb (Fugl-Meyer lower extremity motor score \< 34) * At least 21 years of age * Self-reported experience of a fall in the previous year, and/or a fear of falling * Gait speed of at least 0.2 m/s * Ability to walk on a treadmill without a cane or walker * Ability to follow three step commands and communicate with experimenters to answer questions (e.g., regarding their balance confidence) * Provision of informed consent Exclusion Criteria: * Resting blood pressure higher than 220/110 mm Hg * History of unstable cardiac arrhythmias, hypertrophic cardiomyopathy, severe aortic stenosis, angina or dyspnea at rest or during activities of daily living * Preexisting neurological orders or dementia * Legal blindness or severe visual impairment * Presence of neglect * History of DVT or pulmonary embolism within 6 months * Uncontrolled diabetes with recent weight loss, diabetic coma, or frequent insulin reactions * Orthopedic injuries or conditions (e.g., joint replacements) in the lower extremities with the potential to alter the gait pattern