Ankle Exoskeleton for Stroke Gait Enhancement

This work will focus on new algorithms for robotic ankle exoskeletons and testing these in human subject tests. Individuals who have previously had a stroke will walk while wearing a robotic exoskeleton on a specialized treadmill as well as during other movement tasks (e.g., overground, stairs, ramps). The study will compare the performance of the advanced algorithm with not using the device to determine the clinical benefit.

Inclusion Criteria: * Between 18-85 years of age * Had a stroke at least 6 months prior to study involvement * Are community dwelling, which means you do not live in an assisted living facility * Are able to provide informed consent to participate in the study activities * Can safely participate in the study activities (per self-report) * Must have a Functional Ambulation Category (FAC) score of 3 or above, which means you can walk without the assistance of another person Exclusion Criteria: * Require a walker to walk independently * Have a shuffling gait pattern overground * Have a Functional Ambulation Category (FAC) score of 2 or lower, which means you require the assistance of another person in order to walk * Have a significant secondary deficit beyond stroke (e.g. amputation, legal blindness or other severe impairment or condition) that in the opinion of the Principal Investigator (PI), would likely affect the study outcome or confound the results * For exoskeleton-only studies, the exoskeleton device does not fit appropriately or safely, as determined by the research team during the fitting assessment.