Gait rehabilitation with an active leg orthosis

In this paper, we discuss the design and control strategies for an active gait rehabilitation device for the lower extrmity. This device uses gravity balancing to reduce the net torque required by the actuators during motion. Two controllers are proposed in this paper. The first uses a robust controller and the second uses a torque assisting control law. Simulations of these controllers are presented in this paper. Experiments are currently being conducted with this orthosis on healthy and stroke subjects.