Smartshoes for Freezing of Gait in Parkinson's Disease

Inclusion Criteria: For patients with Parkinson disease: * diagnosis of PD according to the UK Brain Bank criteria * Hoehn and Yahr stages 2 to 3 during the ON phase of PD medication * Self-report episodes of FoG based on item 1 of the NFOG-Q, and score of 3 on item 2, part II For patients with Parkinson disease withOUT freezing of gait: * diagnosis of PD according to the UK Brain Bank criteria * Hoehn and Yahr stages 2 to 3 during the ON phase of PD medication For all participants (PD with or without freezing, or age-matched controls): * adult age 40-80 * able to walk 10 minutes at baseline * able to provide consent * able to read and write in English at an 8th grade level. Exclusion Criteria: For all participants (PD with or without freezing, or age-matched controls) * moderate to severe peripheral neuropathy (based on self report or clinical exam using vibration tuning fork) which may limit ability to sense the vibratory feedback * use of orthotics incompatible with the haptic wearable shoes * severe balance deficits or daily falls at baseline * patients with dementia (MoCA\<18) who are not able to appropriately provide consent for the study * pregnant persons