 this study examined the effect of actuator timing on user perception of robotic ankle exoskeletons. The researchers found that individuals had varying levels of sensitivity to actuator timing, which could affect the accuracy of the device's performance. Additionally, the study showed that the amount of ankle angle change caused by the device was dependent upon the individual's ankle stiffness and the amount of torque applied during walking. This suggests that the device may need to be tailored to each user's specific needs in order to maximize comfort and safety. This article was authored by Sian Yupeng, Yadriana Akastisojo, Manai Wu, and others.