This thesis develops a vibro-tactile rhythmic-haptic cueing system based on Afro-diasporic polyrhythms to support gait improvement in neurodegenerative conditions. Using foot-based sensors and calibrated vibrations, the system increased cadence by 2–3%. The work challenges historical pathologizing of Black music and reframes it as therapeutic, culturally grounded neurotechnology.

This thesis introduces Armando, a low-cost soft robotic gripper with proprioceptive sensing using a single flexible capacitive sensor and neural-network decoding. Achieving 99% accuracy, Armando enables precise finger-position estimation for applications in prosthetics, assistive care, and disaster response, advancing accessible tactile robotics inspired by human touch.