Robotic ankle tests could sharpen stroke rehab

Copied word for word from the study's registry entry, so the wording is the study team's rather than ours.

Inclusion criteria * 40 - 80 years of age, inclusive * Normal hearing and vision, can be corrected * No skin allergies to adhesive material, conductive paste, or silver * Ability to walk \>10m independently on level ground without an assistive device or bracing * Able to understand and give informed consent * Able to understand and speak English Inclusion criteria specific for healthy participants: * No neurological disorders * Absence of pathology that could cause abnormal movements of extremities (e.g., epilepsy, stroke, marked arthritis, chronic pain, musculoskeletal injuries) Inclusion criteria specific for participants post-stroke: * Unilateral, supratentorial ischemic or hemorrhagic stroke ≥ six months prior * Minimum activation against gravity for dorsiflexion and plantarflexion, equivalent to a Manual Muscle Test (MMT) score of ≥ +2 * Self-selected walking speed is less than 1.2 m/s Exclusion criteria * Cognitive limitations that would prevent playing games * Adults unable to consent, pregnant women, children, or prisoners * Infection, wounds, or graft sites on lower limbs * History of sustained non-prescribed drug use or substance abuse (as reported by subject; current nicotine use is allowed) * History of peripheral nerve injury * Severe hip, knee, or ankle arthritis * Recent fracture or osteoporosis (as reported by subject) * Bone or joint instability in the lower limb * Severe pain syndromes affecting any part of the lower limbs * Fixed contractures affecting the lower limbs * Medical (cardiac, renal, hepatic, oncological) or psychiatric disease that would interfere with study procedures * Inability or unwillingness to perform study-required activities * Prior neurosurgical procedures Exclusion criteria specific for healthy participants: \- Any neurological diseases (e.g., stroke, Parkinson's disease or other neurodegenerative disorder, severe dementia, brain injury, spinal cord injury, multiple sclerosis, or cancer of the central nervous system) Exclusion criteria specific for participants post-stroke: * Co-existence of other neurological diseases (e.g., Parkinson's disease or other neurodegenerative disorder, severe dementia, brain injury, spinal cord injury, multiple sclerosis, or cancer of the central nervous system) * Botox (botulinum toxin) injection to lower limbs within the prior 3 months * Significant spasticity or contracture in the lower limbs (Modified Ashworth Scale score of 4) * Severe aphasia * Significant loss of sensation in the lower limbs