The purpose of this report is to propose a new principle of minimally-required-assistance in the design of assistive devices for sensorimotor training in patients with neurological disorders. We illustrate the implementation of the principle in design and development of a novel assistive device for gait training in stroke survivors. Specific aims of this report are three folds including a brief review of literature on gait training after stroke, revision of movement specifics during gait in the context of task-specific training, and design of a novel assistive device for gait training.

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