A Cable-drive Active  Leg EXoskleton with potential for gait rehabilitation in a lightweight and constraint-free architecture. 

C-ALEX is a cable-driven active leg exoskeleton designed for gait training. It is extremely light-weight (<5kg). It is designed around the degrees of freedom of the human leg and does not impose any constraints on lower extremity motion. The device uses cables to transmit forces from an actuator to a human leg. It is designed for gait training on a treadmill with visual feedback, or over-ground in hallways along with a lightweight user interface.