The training program was 4 weeks long, with training sessions held twice a week for 1 hour each day. The goal of the sessions was to maximize functional improvement with exercises that were similar to daily tasks. Walking was performed in a variety of conditions such as on a treadmill and up and down ramps and stairs. Balance exercises included picking up objects in a crouched position. Step-ups and step-downs, sit-to-stand, and leg press were used as strength exercises. Intensity was increased with more repetitions, higher speed, or increased difficulty such as decreasing seat height in the sit-to-stand exercise.