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Highlights • Paretic and non-paretic medial gastrocnemius muscles rely mainly on motor unit recruitment, more so than rate coding, to respond to increased challenges to standing balance. • A change in anticipatory postural control strategy in people post-stroke may minimize the need for modulation of motor unit firing rate in response to anticipated external perturbations. • A relationship between motor unit firing rate and movement velocity during postural reactions suggests that sensorimotor integration may remain somewhat intact after stroke.