two functions: the spring avoids possible movement incongruity between the action of the actuators and the patient; the spring amplify factors of disequilibrium (arrows in Fig. 2c) useful to the solicitation of a new dynamic stability. Contact and inertial sensors are utilized for the detection of gait phases. The exoskeleton has reduced dimension and weight because the toque required are minimal. The actuators give a solicitation towards the correct direction and do not need to substitute or to force themuscles activities. The efficacy is assessed via video observation and gait analysiswith an optoelectronic system (Vicon MX, UK) and two force platform (AMTI, OR-6, US). A preliminary test of the ankle component was conducted during gait analysis trials on a child (age 9 years) with acquired hemiplegia. Results: The reduced dimension and weight of the robotic exoskeleton facilitated the garb and the utilize duringwalking. Gait analysis conducted in different conditions, barefoot (Fig. 2a), with traditional AFO (Fig. 2b) and the ankle exoskeleton unit (Fig. 2c), showed major gait assistance during the walking with exoskeleton respect to the use of traditional AFO. This increased functional congruity was reached by means of the possibility to test different ankle torques with the exoskeleton, personalizing the support to the function. Discussion: The exoskeletons controlled in impedance allows to tune the mutual joint fluctuations of the lower limbs with high degrees of freedom. This solution represents a progress respect to the actual options to recovery or to support the locomotor function. The proposed solution allows both the temporary utilize for the recovery of the function and the permanent functional support. Furthermore, the proposed exoskeleton could be used to investigate the elastic characteristics of personalized orthosis with in vivo tests. Future use could allow to realize active orthosis able to adapt to the developmental features of the locomotor function in children [3]. These new perspective will provide new evidence both on the synergies utilized during locomotion and on motor learning rules.