**2.1 Acquisition of 4D sensory data**

**Figure 3** shows the basic input and output equipment of VIGOR. A Microsoft Kinect and a foot pressure sensor are used as input equipment to acquire kinetic data (or 4D sensory data) of an VIGOR user. Virtual reality goggles, such as the Oculus Rift or HTC Vive, tactile actuators, and active orthoses are used as output equipment that work together to depict 4D feedback to the user.
