omputer control of a powered two degree freedom reciprocating gait orthosis

Many investigations on orthotic devices for araplegics have been undertaken during the last 5 years. Ferris et al. 1 investigated an ankleoot orthosis powered by artificial pneumatic uscles. Harwin 2 discussed the theoretical coniderations for the design of simple teleoperators nd powered orthosis. Despite substantial adances, a suitable orthosis that gives paraplegics a inimum ability to walk without strenuous efforts as yet to be developed. The principal disadvanages of current devices are their high complexity nd low degree of anthropomorphism. An anthroomorphic orthosis is usually defined as a portable echanism with a configuration and degrees of obility that correspond to those of patients body 3 . In addition, a walking orthosis should produce ocomotion cycles that closely resemble those of a