Hybrid orthotic devices configured to apply electrical stimulation to one or more body parts of a person are generally described. A hybrid orthotic device may comprise one or more sensors, one or more electrodes, and a controller configured to receive input signals from the one or more sensors and deliver output signals to the one or more electrodes. In certain cases, the controller may be configured to store one or more programs associated with functional activities (e.g., standing, sitting, and/or walking), and the programs may be configured to enable one or more body parts of the person to track a desired trajectory. In some embodiments, a program may implement a Robust Integral of the Sign of the Error (RISE) control method. The program may further implement control methods to compensate for electromechanical delay and/or muscle fatigue. In certain embodiments, a program may further implement neural network (NN)-based methods.
