Standard reeducation methods for paraplegic people rely on manual or robotic mobilization on a treadmill. However in both cases the motion is generated by an exterior force, the training is thus called passive. In this context the Swiss Fondation for Cyberthoses (FSC) has decided to combine the advantages of robotics (precise and repeatable motion, unlimited training) with closed-loop muscle stimulation. Thus the motion is provided by the muscle of the patients and the robot assists the subject.