Bent Leudesdorff

State- Based Control for an Actuated Reciprocal Gait Orthosis

Upright locomotion has many health benefits for patients with spinal cord injury. Passive gait orthoses, such as an isocentric reciprocal gait orthosis (IRGO), allow patients to walk by pushing themselves forward with forearm supports. To move the legs, the IRGO physically couples the motion of stan…