I began working in the CMU Biomechatronics Laboratory in the Spring 2018 semester. Under the guidance of Ph.D. Candidate, Kirby Witte (now Doctor Witte),  I worked on a torque-controlled ankle exoskeleton, specifically focusing on a phase variable project. Currently, our exoskeleton works well at steady state walking while utilizing the time-based model. But in reality, walking occurs at non-steady state speeds, constantly changing between speeds and stride lengths. The purpose of this project is to identify a phase variable that accurately portrays the gait cycle. We will implement a phase variable-based torque tracking and ideally, our end result will be a robust method of torque application. 

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