Many patients with spinal injures are confined to wheelchairs, leading to a sedentary lifestyle with secondary pathologies and increased dependence on a carer. Increasing evidence has shown that training using devices such as Reciprocating Gait Orthoses (RGO) reduces the incidence of these secondary pathologies, but the physical effort involved in this training is such that there is poor compliance. This paper reports on the design of a new “human friendly” orthosis powered by high power pneumatic Muscle Actuators. The combination of a highly compliant actuation system with an intelligent embedded control mechanism which senses hip, knee and ankle position, velocity, acceleration and force produces a powerful yet inherently safe operation for paraplegic patients. The application of this technology will greatly improve the rehabilitative protocols for paraplegic patients.

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