Stewart, Kurt2023-03-012023-03-012020https://unbscholar.lib.unb.ca/handle/1882/14593The field of assistive lower limb exoskeletons lacks controllers that allow user adjustment according to their needs and desires. This thesis develops and shows simulation evidence for allowing user-intuitive control by providing adjustment of gait based on gait performance measures the user cares about while walking. Using the NSGA-II multiobjective optimization algorithm to generate trajectories for a virtual constraint-based exoskeleton system a lookup table was generated which provides user adjustment of speed, comfort, effort proxy, and natural walking measures. The findings in this thesis demonstrate a variety of gait across these performance measures which can be used to formulate a user-adjustable controller.text/xmlxiv, 77 pageselectronicen-CAhttp://purl.org/coar/access_right/c_abf2master thesis2023-03-01Sensinger, JonathonDiduch, ChrisElectrical and Computer Engineering