Stroke-related gait impairments, such as poor limb coordination, imbalance, and reduced push-off strength, are often addressed using robotic systems or electrical stimulation, which can be costly, invasive, or insufficient for long-term recovery. Current devices often assist movement but fail to promote functional motor learning. Research supports rehabilitation strategies that amplify gait errors to drive neuroplasticity and adaptation. The LegExoNET (Exoskeletal Network for Elastic Torque) is a novel, passive wearable exoskeleton designed to address this need by enabling both assistive and therapeutic gait training. It stores and releases elastic energy to aid movement while allowing natural joint motion. The system aims to support individuals post-stroke transitioning to independent rehabilitation by offering a lightweight, affordable, and adaptive solution. Initial testing will focus on healthy individuals to assess safety and feasibility before expanding to stroke populations. The LegExoNET has the potential to enhance gait recovery and reduce therapist burden through error augmentation and personalized support, both in clinical and at-home settings.

Inclusion Criteria:

• Age 18-70 years old
• Ability to provide informed consent
• Capable of ambulating without the use of assistive devices for 2 hours

Exclusion Criteria:

• History of stroke, SCI, or other neurological medical diagnoses
• Pregnant
• Severe medical diagnoses (e.g. cardiovascular, orthopedic)
• Skin allergies or irritation; open wounds
• Prisoners
• Cognitively impaired adults

All participants will receive either intervention, but the order in which they receive it will be randomized.