This work introduces a new driven gait orthosis (DGO) based on the pneumatical exoskeleton leg for locomotor training. This device can drive the lower-limb of a patient in a physiological way on the moving treadmill following the given gait which fits to the individual needs. Therefore, it can help a patient who suffers lower-limbs paralysis to recover his walking ability. Mechanisms were designed based on the optimization from the view of human gait and the Ergonomics. Displacement sensors were mounted to allow a closedloop control consequently to make each limb’s motion as similar as possible to that of the human specimen. Each actuator is controlled by an algorithm, which consists of fuzzy and bang-bang. This solution allowed the existing strong nonlinearities to be easily managed with high response. The satisfying experiments results demonstrated the effect of the hybrid algorithm.

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