After the 4-week adaptation period, there were no differences between walking with the neuroprosthesis and walking with the AFO (P > .05). After 8 weeks, there was no significant difference in gait speed, whereas stride time improved from 1.48 ± 0.21 seconds with the AFO to 1.41 ± 0.16 seconds with the neuroprosthesis (P < .02). Swing time variability decreased from 5.3 ± 1.6% with the AFO to 4.3 ± 1.4% with the neuroprosthesis (P = .01). A gait asymmetry index improved by 15%, from 0.20 ± 0.09 with the AFO to 0.17 ± 0.08 with the neuroprosthesis (P < .05).