Abstract: An exercise and gait-training apparatus has a framework adapted for location above a surface, a harness adapted to support a person relative to the framework, an orthosis adapted for attachment to a lower leg or foot of one leg of the person, a first pair of actuators that are angled with respect to one another and pivotally connected to the framework and connected on a common pivot axis to the harness, a second pair of actuators that are angled with respect to one another and pivotally connected to the framework and connected on a common pivot axis to the orthosis, and a controller that is adapted to control and to synchronize operation of the actuators such that the leg is moved in an arcing pathway simulating a natural movement of the leg.

Abstract: An exercise and gait-training, apparatus includes a framework adapted for location above a surface, a harness to support a person relative to the framework, an orthosis adapted for attachment to a lower leg or a foot of one leg of said person, a first pair of first actuators connected to the framework and to the harness whereby one side of the harness is moved to move a hip or a thigh of said one leg of said supported person relative to the framework, a second pair of first actuators connected to the framework and to the orthosis whereby the orthosis is moved relative to the framework, and a controller to control and to synchronize operation of the actuators such that the first leg is moved in a pathway simulating a natural movement of the leg during walking, a running or a sporting activity.