Individuals with neurological disorders such as stroke and cerebral palsy often demonstrate difficulties with walking and bearing weight on their weak limb(s). This often causes a slow walk or a limp. The ability to bear weight through both legs and to transfer weight from one leg to the other is crucial for daily activities such as standing, walking, and other activities. Shifting weight from leg to leg and rotating the hips are important for smooth and safe walking. Problems with weight shifting can cause falls. The purpose of this research is to investigate the ability of a specialized elliptical exercise machine to improve hip, knee and ankle control during walking in individuals with neurological injury. Stronger hip muscles may improve balance and weight shifting leg to leg during walking.