 This paper proposes an adaptive oscillator-based assistive torque control system for correcting gate asymmetry in stroke patients. The system uses a novel nonlinear series elastic actuator, NCA, to provide assistive torques to the patient's hip joints. A gate asymmetry detection algorithm continuously monitors the patient's gate phase and detects any asymmetries between the two sides of the body. Based on these detected asymmetries, the assistive torques are adjusted to help restore balance and symmetry to the patient's gate. This system was tested on seven healthy subjects who were asked to walk on a treadmill with assistance from the NCA. The results showed that the proposed assistive control successfully restored gate symmetry to levels comparable to a normal gate of the participants. This article was authored by Weping Qian, Haoyong Yu, and Cheng Lang Fu.