A controlled-brake orthosis for providing controlled limb movement includes a stimulator for stimulating an individual's leg muscles which causes the legs to move. An orthosis worn on the legs to support the legs include lower links rotatably coupled to upper links with lower rotatable joints. Brackets are rotatably coupled to the upper links with upper rotatable joints. The joints are located adjacent to the hip and knee joints of the individual and brakes are coupled to the joints for controlling the rotation of the joints. By controlling the stimulator and brakes with a computer, movement of the legs can be controlled to produce walking.