Fig. 1

The GEMS-H exoskeleton has several modules which can be used to customize the device to different body types. The base unit (control pack, battery, waist belt, and actuator) comes in three sizes, and can be further adjusted to hip width. The thigh frames and thigh belts are also modular and adjustable, ensuring effectiveness and comfort for a variety of leg dimensions. The user interface allows control parameters to be customized to the user’s preference, and to accommodate a range of aging related gait irregularities