Inclusion Criteria:

• Hemispheric stroke (ischemic or hemorrhagic), cortical or sub-cortical, documented by either a CT or MRI scan and associated with residual weakness in the arm and/or leg.
• First time ever stroke or previous stroke with complete resolution of motor deficit, occurring ≤4 months prior to subject enrollment.
• Age 18-80 years old.
• Moderate to severe lower-extremity paresis (defined as a leg motor Fugl-Meyer score of ≥6 and ≤22 out of a possible 34.
• Moderate to severe upper-extremity paresis (defined as an arm motor Fugl-Meyer score of ≥6 and ≤43 out of a possible 66.
• Visible voluntary movement of the ankle in at least one direction: dorsiflexion or plantarflexion for the ankle and flexion or extension for the hand.
• At least partially functioning proprioception from the paretic arm or leg—capable of correctly identifying, ≥70% of the time, the direction of passive joint rotation (i.e., flexion-extension) with eyes closed.
• Physically and cognitively capable of consenting to and complying with the protocol.
• Modified Rankin score of 3 or 4.
• Score of <19 out of 63 on the 21-question version of the Beck Depression Inventory.
• Subject or legally authorized representative must be capable of providing informed consent.-

Exclusion Criteria:

• Complete flaccidity of the hand, wrist, and ankle.
• Pathological neurological/physical conditions, other than stroke, impairing the function of the impaired arm or leg or resulting in pain in either the arm or leg.
• Spinal cord injury, arthritis, or fractures of affected limbs that have resulted in loss of range of motion.
• Peripheral nerve injury or neuropathy resulting in significant motor or sensory loss in the limb being considered for testing.
• Cardiopulmonary compromise including but not limited to uncontrolled hypertension or angina, deep vein thrombosis, decompensated congestive heart failure, myocardial infarction, heart irregularities, or exercise intolerance.
• Major active psychiatric disorder.
• Severe apraxia; inability to understand verbal (English) directions; or inability to communicate adequately with study personnel.
• Size of arm or leg incompatible with the AMES device.
• Severe contractures or decreased range of motion that would prohibit comfortable positioning or tolerance of the device
• Skin condition not able to tolerate use of the AMES device.
• Any progressive neurodegenerative disorder affecting the motor system.
• Uncontrolled seizure disorder.
• Current abuse of alcohol or drugs.
• Terminal illness with anticipated survival of <12 months.
• Current or planned concurrent participation in another study or clinical trial.
• NIH Stroke Scale, following scores: Item 1a > 0; Item 1c > 0; Item 2 > 0; Item 3 > 0; Item 11 > 2; Item 12 > 1; Item 13 > 0 (based on exam by Study Physician).
• Intent to receive Botox injections, initiation of antispasmodic medication, or use any other robotic (e.g., MANUS, Locomat) or stimulation device (e.g., Bioness) while participating in the AMES trial.