Patent ID: 7756585

Claim:
A method of providing walking assistance and/or therapy to a person with impaired gait, the method comprising the steps of: sensing pressure between the heel of the foot of one leg and a support surface while walking; sensing pressure between the forepart of the foot of one leg and a support surface while walking; developing first gait event signals in response to the pressure sensed between the heel of the foot of one leg and a support surface while walking; developing second gait event signals in response to the pressure sensed between the forepart of the foot of the one leg and the support surface while walking; applying electrical stimulation to at least one muscle in the other leg that effects dorsiflexion of the ankle of the other leg only in response to at least one of the first and second gait event signals; and applying electrical stimulation to at least one muscle in the other leg that effects plantar flexion of the ankle of the other leg only when both of the first and second gait event signals are absent; wherein electrical stimulation is applied at all times while walking to one or the other of (1) the at least one muscle in the other leg that effects dorsiflexion of the ankle of the other leg and (2) the at least one muscle in the other leg that effects plantar flexion of the ankle of the other leg.