A unilateral or bilateral orthotic or prosthetic device that facilitates reciprocating ambulation by a human user is described. The reciprocating gait orthosis includes a torso vest securely positionable around the torso of the user, at least one torso joint coupled to the torso vest such that the torso joint is approximately adjacent to the user's natural waist, and at least one hip member that couples the torso joint and torso vest to a conventional leg support assembly at the hip joint approximately adjacent the user's natural hip joint. The leg support assembly is adapted to couple to the user's leg or to replace the human user's missing leg to provide the user stable support when the user is in an upright position.
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