Despite advances in stroke rehabilitation, more than two-thirds of the 7 million stroke survivors in the U.S. still struggle to walk independently in their communities. Most current therapies focus on stimulating the brain areas that control leg movement, yet many stroke survivors continue to face issues like poor coordination, spasticity, and muscle weakness. We propose a different approach—using electrical stimulation of the spinal cord to improve walking after stroke. This study is looking for persons who have had a stroke to determine if spinal stimulation helps improve walking ability.