This research will present the biomechanical assessment of a robotic device for ankle assistance during gait on stroke's survivors with hemiparesis. Gait pattern through an optoelectronic motion capture system will be analyzed. Additionally, ergonomic and comfort aspects will be measured by an adapted spanish version of Quebec User Evaluation of Satisfaction with assistive Technology (QUEST)

This research will present the biomechanical assessment of a robotic device for ankle assistance during gait on stroke's survivors with hemiparesis.

The device is composed by a passive orthosis structure which allows one degree of freedom (DOF) among the sagittal plane and it includes two servomotors attached to the user's foot through velcro strips.

Gait pattern through an optoelectronic motion capture system will be analyzed. Additionally, ergonomic and comfort aspects will be measured by an adapted spanish version of Quebec User Evaluation of Satisfaction with assistive Technology (QUEST)

Inclusion Criteria:

• Hemiparesis caused by a stroke.
• Age between 18 and 65 years old.
• Post-stroke time more than 6 months.
• Independent walking.
• Minimum 90 degrees of dorsiflexion.
• Muscle tone in plantar flexors less than of equal to 3 on the Modified Ashworth scale.
• Ability to follow instructions.
• Voluntary participation.

Exclusion Criteria:

• Skin alterations in the lower limb.
• Peripherical vascular alterations.
• Alterations in sensitivity in the lower limb.
• Pain of musculoskeletal origin in lower extremities or spine.
• History of frequent falls.
• Cancer
• Previous history or suspected seizures.
• Patient who does not sign the informed consent.