A significant issue in the medical field is a lack of affordable, rehabilitation practices for patients with drop foot. Drop foot is a condition where a person is unable to lift the front part of the foot. People with this condition usually swing their legs in a wide arc to avoid dragging the toes, or lift their leg higher than normal. This can cause an abnormal walking gait and force them to expend more energy than usual for mobility. This condition is usually the result of a nerve injury, brain or spinal injuries, and muscle disorders. One of the most common causes of drop foot is stroke. While there are ways for stroke survivors to live with drop foot, they do not provide free range of motion. Drop foot braces keep the foot in a stationary position with the foot lifted. They do not allow plantarflexion movement of any sort to mimic foot push off. The purpose of this experiment is to allow stroke survivors with drop foot to adjust to a normal walking gait. This experiment is also meant to allow movement while minimizing metabolic cost for the subject.