Patent ID: 7381192

Claim:
A device for re-educating and/or training the lower limbs of a person, in particular a person having an impairment of the central nervous system (paraplegia, hemiplegia), comprising a mechanical orthetic device arranged to constitute an interface with at least one of the lower limbs of the patient and a neuromuscular stimulation device comprising at least one pair of electrodes intended to act on the relevant muscle or muscle group of the said limb of the patient, the said orthetic device comprising at least one articulation provided with an actuating motor of the orthesis and with an angular sensor and at least one force sensor, the said sensors being coupled to a control device controlling the stimulation device, with closed-loop continuously controlled in real time retrocontrol means of said stimulation device, thereby generating a neuromuscular stimulation providing an active motion of said limbs of the patient, in a manner which is coordinated with a closed-loop continuous control system controlling said actuating motor of the orthesis in real time by means of the said angular sensor and force sensor, whereby said actuating motor of the orthesis provides counter pre-programmed resistance loads and compensates the gravity and inertial effects of the orthesis.