A hybrid neuromechanical ambulatory assist system is being developed for walking after lower extremity paralysis that combines the stability and constraints of a novel hydraulic exoskeletal system with the mobility powered by the individual's own paralyzed muscles contracting via functional electrical stimulation. A mobile computing platform is designed to provide real-time closed-loop control using brace mounted sensors to deliver the stimulation needed to stand up and to move the body forward during walking while coordinating exoskeletal control mechanisms at the hips and knees to maintain stability. A hydraulic hip-knee coupling mechanism was designed to provide hip assisted knee flexion during early swing phase of gait to improve foot clearance. A variable constraint hip mechanism couples hips as needed to maintain posture and reduces the need for upper extremities to maintain balance. The knee locking mechanism is designed to allow the stimulated muscles to rest during stance while permitting unconstrained movement during swing. The exoskeleton is designed for easy fitting with adjustable uprights and hip abduction for donning for use in activities of daily living for persons with paraplegia.