Table 2 Patient inclusion and exclusion criteria

- Patients after a first-ever ischemic or hemorrhagic stroke

- Outpatients or inpatients 3 months after stroke

- Ability to stand with or without a cane for at least 30 sec on a normal hard floor

- Ability to walk for 20 metres with or without a cane or an orthosis

- MMSE with at least 20 points

- Age older than 18 years

- Signed written informed consent

- Joint replacements (knee, hip, shoulder)

- Limiting pain in the upper or lower body (evaluated with an eleven point VAS rating scale)

- Limiting range of motion (ROM) in the hip, knee, ankle joint or toes

- Body weight more than 90 kilograms

- Compromised mental capacity to give written informed consent