Innovative Closed-loop Functional Electrical Stimulation Control System for Augmenting Post-stroke Gait

Inclusion Criteria: * \>6 months since stroke * cortical or subcortical stroke * able to walk 10-meters with or without an assistive device * sufficient cardiovascular health and ankle stability to walk on treadmill without ankle orthosis * passive ankle range of motion to benefit from dorsiflexor FES assistance * resting heart rate 40-100 bpm Exclusion Criteria: * cerebellar signs * score \>1 on question 1b (does not know the current month and age) and \>0 on question 1c (can not blink eyes and squeeze hands) on NIH Stroke Scale * inability to communicate with investigators * neglect/hemianopia * unexplained dizziness in past 6 months * sensory loss in paretic leg * musculoskeletal or medical conditions limiting walking * neurologic diagnoses other than stroke