A system including a sensor measuring a position of movement, an artificial controller converting the signals from the sensor into state variables of full movement, correlated with a reference model, by performing continual adjustments for estimating these variables directly drawn from the signals of the sensor by results drawn from the reference model. The control which is then provided for completing the movement has good synchronization with the portion accomplished without assistance from the system. Such a system may find application for reproducing or completing the walking of a person with a disabled leg.
