Lily Catherine Baye-Wallace

Robotics and autonomous systems

Hometown: Phoenix, Arizona, United States

Graduation date: Fall 2021

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MORE | Summer 2021

A Soft Robotic Hip Exosuit (SR-HExo) to Enable Entrainment during Human Locomotion

Over 7 million American stroke survivors require gait rehabilitation due to initial or persistent mobility deficits. Expansion of the “basin of entrainment” is a rehabilitative practice that improves gait uniformity through the application of small, periodic, mechanical perturbations to which the human locomotor system then synchronizes. A soft hip exosuit was developed to administer these precise perturbations at the front or back of the hip via a pair of lightweight, flat fabric pneumatic actuators orientated in X’s. The exosuit successfully expanded the basin of entrainment for 11 healthy participants by 15% through perturbations applied with either set of actuators.


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Additional projects from this student

Understanding the mechanisms for damage growth is key to the development of predictable defense and armor systems.


  • FURI
  • Spring 2020

Improving the knowledge-base of damage propagation through materials will help develop protection systems.


  • FURI
  • Fall 2019