Our laboratory develops wearable systems to explore principles of embodied AI and perception, human movement and movement modification. We combine robotic, haptic, biomechanics, and machine learning principles to create unique sensors, real-time models, AI and physics-based fusion algorithms, and novel feedback devices. We focus on humanoid and human movement in laboratories, clinics, and natural environments. Target applications include realistic embodied somatosensation in autonomous and teleoperated humanoids, improved medical treatment for osteoarthritis and stroke and optimized athletic performance for golf and running.