• Age 40-90 years
• Self-reported diagnosis of Multiple Sclerosis
• On stable disease-modifying therapy for at least 6 months
• No physical or occupational therapy balance-related therapy in the past 6 months
• Able to stand from a chair independently with or without hand support
• Score between 25-75% on the 12-item MS Walking Scale
• No other neurological, cardiopulmonary, musculoskeletal, or systemic conditions affecting standing or walking
• English speaking
• Willing to complete all study procedures, including Zoom sessions
• Has reliable internet access
• Has a helper buddy available for all sessions
• Possible mild cognitive impairment based on self-report
• Moderate disability with ePR-EDSS score 4.0-6.5
• Mild cognitive impairment with MoCA 18-25 or Jak/Bondi criteria for scores 26-30
• Physically inactive or moderately active (Godin score less than 24)
• Cardiovascular safety parameters within acceptable limits
• No global aphasia (Mississippi Aphasia Screening Test 71 percent or higher)
• Berg Balance Scale score 40 or higher out of 56
• Able to walk 1 block with or without an assistive device

Helper Buddy Inclusion Criteria:

• Age 18 years or older
• Lives close to the participant
• No major medical conditions limiting safety assistance
• English speaking
• Able to attend all training and assessment sessions
• Able to assist with safety, positioning, and communication
• Has internet access and can use Zoom

• MS relapse or exacerbation within the past 3 months
• Major surgery within the past 6 months or hospitalization within the past 3 months
• Resting shortness of breath or uncontrolled pain greater than 3 out of 10
• Uncontrolled hypertension or diabetes
• Bone fracture in the past 6 months
• Disability that limits activities of daily living
• History of epilepsy or uncontrolled seizures in the past year
• Use of sedative medications that may interfere with training
• Use of Alzheimer's/dementia-modifying drugs or enrollment in Alzheimer's clinical trials
• Use of antidepressants or anxiety medications
• Moderate or high risk on Physical Activity Readiness Questionnaire (PAR-Q) with one or more "yes" responses
• Severe cognitive impairment (TICS-M score 18 or lower)
• Currently receiving cognitive or physical rehabilitation
• Use of pacemaker
• Cardiovascular parameters outside safety limits (heart rate, blood pressure, oxygen saturation)
• Global aphasia (Mississippi Aphasia Screening Test less than 71 percent)
• Peripheral nerve injury
• Berg Balance Scale score less than 40 out of 56
• Inability to walk one block with or without an assistive device
• Non-English speakers
• Individuals under 18 years of age
• Pregnant individuals
• Prisoners or other vulnerable populations