Lateral Perturbation Induced Step Training Compared to Lateral Voluntary Step Training in People with Chronic Stroke

The goal of this clinical trial is to see if perturbation-induced step training improves stepping performance during a reactive and voluntary step. The main questions it aims to answer are: Does perturbation induced step training improve step initation time and first recovery step? Researchers will compare lateral perturbation induced step training to lateral voluntary step training to see if the first recovery steps improve. Participants will: Vist the lab for an initial assessment, post exercise and one month post exercise of voluntary and perturbation induced stepping performance, and clinical tests of balance, motor recovery, sensory and strength tests. Exercise 3 times a week for 6 weeks in person Track falls for 6 months after the exercise.