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This lecture covers the restoration of thermal sensation in amputee patients using sensory substitution techniques, such as tactile and thermal stimulation devices. It explores the use of haptic encoding, distributed pressure and temperature sensors, and intramuscular implants to restore sensory feedback. The presentation also discusses the challenges in developing setups for inducing freezing of gait episodes in Parkinson's disease patients and the importance of safe environments for rehabilitation. Additionally, it delves into the neural mechanisms of freezing of gait and the potential solutions to address this condition.