Assistive exoskeletons are an increasingly valuable rehabilitation tool for patients with neurological damage. However, high level assistive control of exoskeletons remains a challenge. Many different sensors must work in concert to both control the exoskeleton, and determine the intention of the human wearer. This project implements an advanced sensor system and control scheme on a portable, low-cost knee exoskeleton developed for the RISE lab. The wearer’s leg trajectories and gait cycle are measured in real time. A gravity compensation controller assists the wearer during swing phase of their gait, and an impedance controller assists during stance.