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This paper describes a powered leg orthosis for gait rehabilitation of patients with walking disabilities. The paper proposes controllers which can apply suitable forces on the leg so that it moves on a desired trajectory. The description of the controllers, simulations and experimental results with the powered orthosis are presented in the paper. Currently, experiments have been performed with a dummy leg in the orthosis. In the coming months, this powered orthosis will be used on healthy subjects and stroke patients.
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Banala et al. (2007) studied this question.
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