This article discusses the assessment and treatment of gait disorders after stroke. After consideration of the effects (of the disturbed motor control resulting from stroke) on the gait movements and the expected rate of recovery of walking capacity, different methods of assessment are considered. Emphasis is placed on selecting the appropriate measurement tool according to the individual's level of function. Also, the need to measure walking performance under different environmental constraints and the importance of instrument responsiveness to change over the range of walking disabilities are discussed. Task-related training with the opportunity for large amounts of practice is recommended to improve walking performance after stroke.