During my first semester of my Master’s at MIT (Fall of 2022), I took a class called Advanced System Dynamics and Control. For our final project, my team and I studied the use of Linear Quadratic Regulator with a Luenberg Observer and Kalman Filter on the 2D balance control of a lower-limb exoskeleton. Our motivation was to improve lower-limb exoskeleton control, which could help with the transition from sitting to standing and rehabilitation in patients with limited mobility. The system was tested via Simulink simulation. The paper linked here provides a more detailed look at the work. Our final presentation can be seen below.