Effects of Voluntary Adjustments During Walking in Participants Post-stroke

Inclusion Criteria for stroke survivors are: * Chronic hemiparesis (time since stroke \> 6 months) caused by a single documented stroke event. * Ability to walk on the treadmill continuously for 2 minutes * Ability to walk over ground independently or with the use of a cane * No concurrent neurological disorders or orthopedic conditions that interfere with their ability to walk * No prior experience walking on a split-belt treadmill * Normal or corrected to normal vision * The ability for them or a guardian to provide informed consent. Inclusion criteria for neurotypical adults are: * No musculoskeletal conditions or injuries that limit walking ability within the last two years * No history of neurological disorders or severe head trauma * No prior experience walking on a split-belt treadmill * Normal or corrected to normal vision. Exclusion Criteria for stroke survivors are: * Inability to walk * Concurrent neurological disorders or orthopedic conditions that interfere with their ability to walk * More than one stroke * Visual neglect * Uncontrolled hypertension * Inability to provide informed consent. Exclusion Criteria for neurotypical controls are: * Inability to walk * Concurrent neurological disorders or orthopedic conditions that interfere with their ability to walk * Uncontrolled hypertension * Inability to provide informed consent.