be 18-64 years old with a confirmed diagnosis of ms

have perceived walking difficulty

have an edss score of < 6, calculated by the physician

ability to understand study procedures and to comply with them for the entire length of the study

have had a ms exacerbation in the prior 8 weeks

have other serious medical conditions that would impair their ability to participate in gait performance testing (i.e. severe rheumatoid arthritis or osteoarthritis)

if the physician deems a participant unsafe to go home with devices

cannot communicate in english

possess greater than a mild decrease in mentation (i.e. a score of >2 on the mental functions item of the fss)

inability or unwillingness of individual to give written informed consent