 This is a project funded by our National Science Foundation and the purpose is to facilitate the personalized tuning in an automatic way for the lower limb processes. So the idea is when the process is fitted to a new amputee, it needs to go through a long process of self-individualized tuning by a clinician and we try to shorten that process and automate the process. The process is a robotic power process which is different from the current passive processes because the joints are powered with motor so it can generate power just like the biological joints do. The equipment we have developed is measurement exoskeleton which basically just takes the measurement of how people walk and the idea is if we know how a healthy person walks then we can basically figure out what the person wants to do. So that's called the intent recognition and we can also basically control the processes such that the amputee can walk more naturally.