Adaptive Deep Brain Stimulation for Freezing of Gait in Parkinson's Disease

The main questions it aims to answer are: 1. Does adaptive DBS lead to fewer freezing of gait episodes for participants compared to their clinical continuous DBS settings? 2. Does adaptive DBS change other parts of participants' walking, like step length, step time, or step symmetry? Investigators will compare personalized adaptive DBS settings for each participant with their continuous DBS settings to see if adaptive DBS works better to treat gait symptoms, including freezing of gait. Participants will have DBS insertion surgery as part of their standard medical care. Along with the DBS system, they will also have permanent sensors placed between their skull and scalp to detect brain activity related to movement. After, participants will: 1. Measure their walking using at-home monitoring devices (worn on the hip or ankles) while on their clinical continuous DBS settings. 2. Visit the lab for check-ins and testing of adaptive DBS settings. 3. Try different adaptive DBS settings at home, while wearing at-home monitoring devices.