Abstract: A wearable robot, system and method are provided for correcting gait impairments, such as knee hyperextension, in a user. The wearable robot is an assistive lower-limb exoskeleton having a frame and an actuation system to generate an assistive force with timing, duration, and amplitude based on a gait impairment mitigation strategy.

Abstract: A wearable robot and method for controlling the wearable robot having at least one leg unit involves: (a) obtaining at least one input signal from at least one encoder tracking a hip joint angle versus time with the at least one encoder attached to the wearable robot and corresponding to the at least one leg unit; (b) windowing the at least one input signal within a window size based on time versus the hip joint angle; (c) decomposing the at least one input signal with a Discrete Wavelet Transform (DWT); (d) identifying at least one gait event in a gait cycle by using the DWT; (e) computing temporal gait parameters based on the at least one gait event; (f) generating an assistive force in the at least one leg unit in response to the temporal gait parameters.