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The rehabilitation system for re-learning of walking is aimed at gait training in patients with incomplete spinal cord injuries soon after the accident. It consists of three systems: actuation, sensory, and cognitive. The actuation system is represented by afferent electrical stimulation. The sensory system makes use of goniometres, gyroscopes, accelerometers, foot-switches and computer vision. Cognitive information is delivered to the patient in the form of sensory elec­trical stimulation, and audio or visual feedback.