An orthotic feedback system for facilitating ambulation of a user requiring assistance in the joint motion of the ankle and foot. An energy-storing and energy-returning orthosis is coupled to the leg and foot of a user. Force sensors are positioned under the plantar surface of the heel and metatarsals of the foot. The sensors are coupled to a main control unit that sends signals to transcutaneous electrode pads coupled to the users leg. The main control unit receives signals from the force sensors and sends signals to the transcutaneous electrode pads to cause plantar flexion and dorsiflexion of the users foot during ambulation, to train the users muscles to fire at the appropriate time and retrain the user to walk with a more normal gait.
