WalkAide Compared to Ankle-Foot Orthosis (AFO) in Stroke Patients

Inclusion Criteria: * Patient history of stroke (ischemic and/or hemorrhagic). * Patient is at least 6 months post stroke. * Patient has hemiplegia/hemiparesis. * Patient has inadequate dorsiflexion during swing phase of gait, resulting in inadequate limb clearance. * Patient is not currently using Functional Electrical Stimulation for the treatment of footdrop. * Patient is a minimum of 30 days post inpatient or outpatient stroke, cardiac, pulmonary, or physical rehabilitation on the lower extremity. * Patient is a minimum of 90 days post major orthopedic surgery (i.e. hip, knee, and/or ankle joint replacement). * Patient is a minimum of 90 days post myocardial infarction. * Patient is a minimum of 90 days post stenting procedure (i.e. peripheral, cardiac, carotid, and/or renal). * Patient is a minimum of 6 months post CABG or cardiac valve procedure. * Patient is able to walk at least 10 meters with or without an assist device (excluding an AFO or WalkAide device). * Patient has an initial gait speed \> 0.0 m/s and \< 0.8 m/s. * Patient has a positive response to peroneal nerve stimulation testing, resulting adequate dorsiflexion of the ankle. * Patient has adequate cognitive function to permit reliable completion of evaluation instruments and to correctly use the therapeutic interventions as determined by a Mini-Mental Status test score \>17 within 30 days prior to enrollment. * Patient has completed a full neurological assessment within 30 days prior to enrollment. * Patient is eligible for Medicare or Medicare Choice/Advantage benefits at the time of enrollment * Patient is able and willing to comply with study procedures, including follow-up requirements. * Patient is able and willing to give written informed consent. Exclusion Criteria * Patient is less than 6-months post stroke. * Patient has inadequate cognitive function to permit reliable completion of evaluation instruments and to correctly use the therapeutic interventions as determined by a Mini-Mental Status test score \< 17 within 30 days prior to enrollment. * Patient has ankle joint instability other than foot drop. * Patient is less than 30 days post inpatient or outpatient: stroke, cardiac, pulmonary, or any type of physical rehabilitation on the lower extremity at time of enrollment. * Patient has need for an AFO for stance control of the foot, ankle and/or knee. * Patient has an initial gait speed of 0.8 m/s or greater classified as a full community walker (independent in all home and community activities). * Patient is not able to safely clear toes in swing phase on the involved lower extremity, defined as \>-5° plantar flexion, with the device determined at fitting visit. * Patient has been diagnosed with peripheral neuropathy and symptoms obstruct or limit ambulation or participation in study procedures. * Patient has been diagnosed with significant peripheral vascular disease accompanied by lower extremity ulceration and/or disabling claudication. * Patient has underlying condition(s) that would limit study participation such as severe hypertonicity resulting in the need for more involved orthotic strategies or excessive dysesthetic pain secondary to neurological involvement. * Patient has moderate to very severe COPD, as defined by the Global Initiative for Chronic Obstructive Lung Disease (GOLD). * Patient is NYHA Class III or IV. * Patient has malignant skin lesion below the knee on the affected lower extremity. * Patient has history of seizure disorder and on seizure medications. * Patient has aphasia, defined as incapacity to verbalize commands. * Patient has Beck Depression Index score of \> 29 indicating severe depression. * Patient has a life expectancy less than 12 months. * Patient has existing electrical stimulation devices (ICD, Pacemaker, Spinal Stimulation, TENS). * Patient is less than 6 months free from Botulinum Toxin (Botox) injection in the lower extremity. * Patient has baclofen pump with unstable dosing in the last 3 months. * Patient is unable or unwilling to comply with study procedures, including follow-up requirements. * Patient is participating in another clinical trial that, according to the Principal Investigator, is likely to affect study outcome or confound results. * Patient is unable or unwilling to give written informed consent.