Inclusion criteria were as follows: age above 18, Mini-Mental State Examination ≥ 24, ability to provide written informed consent and to understand the test instructions, and the presence of a single stroke. Exclusion criteria were as follows: more than one stroke, stroke area other than the cerebral cortex, or concomitant neurological disease and pathology of the locomotor system. This group has been analysed also dividing the subjects according to the stroke phase in 3 subgroups: Acute phase group, Subacute phase group, Chronic stroke group

Healthy subjects age matched with the stroke group

An IMU was worn by the subjects during the execution of the 6MWT, to assess the kinematic parameters of gait.

Assessed through an Inertial Measurement Unit, it include the time length of steps, of the stance phase, of double and single limb support phase.

To state the stroke condition

To assess the balance of stroke subjects

To assess the strength of stroke subjects

Assessed through an Inertial Measurement Unit, in different moments of the 6-Minute walking test.

The amount of meters walked in 6 minutes

Amount of steps for each minute

AN index of the symmetry between the two sides of the subjects during gait