Gait is often compromised following stroke, resulting from impairments in sensorimotor control and cardiovascular de-conditioning. The purpose of this thesis was to investigate the role of aerobic exercise in sensorimotor control following stroke, and to identify specific training tasks that may optimize both sensorimotor and cardiovascular recovery. Muscle activation patterns and spatio-temporal characteristics of gait were compared between sub-acute stroke participants who received aerobic training on a semi-recumbent ergometer and patients who received traditional rehabilitation only. Aerobic capacity was improved, however hypothesized improvements in sensorimotor control were not observed. We then examined three novel pedaling tasks hypothesized to increase use of one limb in healthy participants to evaluate potential utility with stroke patients. Two tasks that mechanically increased pedaling load and provided electromyographic feedback were identified as candidates for further study. This work has important implications for the evolution of stroke rehabilitation and for improving quality of life following stroke.