This paper describes the concept for a cooperatively controlled combi-nation of Functional Electrical Stimulation (FES) with a motor-driven exoskeleton for gait rehabilitation in hemiplegic patients. The objective is to combine the therapy advantages of FES with a mechanical bracing sys-tem, which provides sufficient stabilization and supports a physiological gait pattern. A multi-layered, swit-ching control architecture based on predictive optimization is designed, which allows the patient to control his movements via an intuitive interface. The benefit of the proposed system is tested and evaluated in real scenarios with patients using a prototype.

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