Variation in step length asymmetry (SLA) across trials (a) A representative participant with longer non-paretic step lengths had positive SLA during Baseline, Baseline FB, and ExggAsym. During Sym, the participant reduced step length asymmetry. (b) A representative participant with longer paretic step lengths had negative SLA during Baseline, Baseline FB, and ExggAsym. During Sym, the participant reduced step length asymmetry. (c) Step length asymmetry magnitude for all participants during Baseline, Baseline FB, Sym, and ExggAsym. *p < 0.05, **p < 0.01, and ***p < 0.001 (d) Changes in the magnitude of L_Sag^min in the sagittal plane were negatively correlated with changes in SLA magnitude relative to Baseline indicating that reductions in asymmetry led to increases in angular momentum. *p<0.05