The energy cost of walking (C) in nine chronic hemiparetic patients was calculated by measuring the total mechanical work (Wtot) done by the muscles and the efficiency of this work production (eta). The energy cost was twice normal in slow walkers and 1.3 times greater in fast walkers. The increase in C was proportional to the increase in Wtot and eta was normal at around 20%, despite an increase in muscle tone and muscle co-contractions. This type of approach gives a greater understanding into how segmental impairments increase Wtot and C and contribute to a patient's disability.