A method is described for providing deficit adjusted adaptive assistance during movement phases of an impaired ankle. The method includes determining on the processor a value for a deficit parameter for each movement phase of a compound ankle function based on a difference between a parameter trace for a normal subject and the parameter trace for an impaired subject. The method further includes determining on the processor an adaptive magnitude for the robot applied torque based on the value for the deficit parameter. The method further includes applying to the robot joint the adaptive magnitude for the robot applied torque in only a first plane for the current movement phase based on an adaptive timing. An apparatus is also described for providing deficit adjusted adaptive assistance during movement phases of the impaired ankle.
