This project is designed to allow overground experiments for studying human motor adaptation to changing ground stiffness, with eventual applications toward restoring weight bearing symmetry after stroke. To accomplish this, we are designing a wearable system to change the stiffness between the foot and the ground during walking or standing. We are using 3D printed soft lattice structures as shoe soles to obtain a very low stiffness interface, which we can then actively control with an embedded system. This project is under development.