In this paper we present a method to control a one-legged lower extre-mities orthosis by analyzing the current trajectory performed with the healthy leg and feeding a proper- if necessary phase-shifted — trajectory to the disabled leg encased in the orthosis. For this, a fast and simple modified version of the cross correlation is used. The algorithm works on multiple reference curves by minimizing the error between the reference and the current data by adaptively walking forward through the reference of the healthy leg and reporting back the reference values for the disabled leg. The proposed method will be part of a control system for an exoskeleton robot that should aid the wearer in everyday-life situations like walking, standing up and sitting down. The performance of the presented method was investigated on the leg movement in sagittal plane without contact to unknown obstacles.

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