This study tests a **robotic ankle exoskeleton** to help people walk better after a **stroke** (damage to the brain from a lack of blood flow). The **exoskeleton** is a special device worn on the leg, like a robotic boot, that helps with movement. The study uses a computer program, or **algorithm**, to make the device work better for each person. Participants will try walking with and without the exoskeleton on a treadmill and other surfaces like stairs and ramps. This helps researchers see if the exoskeleton improves walking.

• Participants must be 18 to 85 years old and have had a stroke at least 6 months ago.
• The study involves walking on a treadmill and other surfaces, with and without the exoskeleton.
• Participants should not need a walker and must be able to walk without another person's help.