The aim of the study is to evaluate the short effects of a two rehabilitation session commonly performed in physical therapy,

1. muscle strengthening of the lower limbs and
2. effort reconditioning with cyclo ergometer, on gait characteristics (kinematics, kinetics and electromyographic) in patients with central nervous system lesion.

Inclusion Criteria:

• Male or female adults aged ≥ 18 years receiving a motor rehabilitation in the service
• Hemiplegia after stroke or paraplegia incomplete ASIA C or D or multiple sclerosis (EPSS <5).
• Walking with or without technical assistance
• Patients who received and signed information and informed consent
• Patient who received physiotherapy session for rehabilitation of the lower limbs
• Patients able to perform the entire study

Exclusion Criteria:

• Patient with safety measure
• Pregnant women, breastfeeding
• Patient who has received botulinum toxin injection of in the lower limbs between 3 weeks and 2 months prior to inclusion in the study
• Bilateral Brain damage, cerebellar syndrome, apraxia, severe aphasia
• Orthopedic complications preventing walking
• Patients who participated in a clinical study within 3 months prior to inclusion • No affiliation to a social security scheme (beneficiary or assignee)

The population includes patients with various lesions of central nervous system such as post-stroke patients with hemiparesis, patients with spinal cord injury and patients with mutiple sclerosis.