Exoskeleton Gait-Phase Torque Assist

Powered lower-limb exoskeletons don't just add strength — when they add it matters as much as how much. This simulation walks a simplified biped through a continuous gait cycle while a hip-mounted exoskeleton cuff applies an assistive torque shaped as a phase-locked pulse: adjustable in peak magnitude, timing relative to the stride, and pulse width. A ring plot traces the idealised biological hip-effort curve against the exoskeleton's assist profile in real time, and a cosine-similarity alignment score converts timing quality into an estimated per-cycle metabolic cost change — capturing the real, literature-documented sensitivity of exosuit benefit to assistance timing: well-timed assistance measurably reduces walking effort, while mistimed assistance can fight the muscles instead of helping them.