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In this work, we extend the nonorthogonal amplify-and-forward (NAF) cooperative diversity scheme to the multiple-input multiple-output (MIMO) channel. A family of space-time block codes for a half-duplex MIMO NAF fading cooperative channel with N relays is constructed. The code construction is based on the nonvanishing determinant (NVD) criterion and is shown to achieve the optimal diversity-multiplexing tradeoff (DMT) of the channel. We provide a general explicit algebraic construction, followed by some examples. In particular, in the single-relay case, it is proved that the Golden code and the 4times4 Perfect code are optimal for the single-antenna and two-antenna cases, respectively. Simulation results reveal that a significant gain (up to 10 dB) can be obtained with the proposed codes, especially in the single-antenna case