Abstract: Embodiments of the present invention provide a system (100) for providing targeted cue delivery to regulate a gait of a user comprising a first cue delivery device (131) configured to provide somatosensory stimulation to a first leg of the user, a second cue delivery device (132) configured to provide somatosensory stimulation to a second leg of the user, one or more inertial sensors (121, 122) configured to output movement data indicative of the gait of the user, and a controller (110) configured to receive the movement data from the one or more inertial sensors (121, 122), determine a cue pattern for each of the first and second cue delivery devices (131, 132) independence on the movement data, and output a respective control signal (135, 136) to control each of the first and second cue delivery devices (135, 136) to provide stimulation according to the cue pattern.