Clinical Investigation to Validate the Safety and Performance of Integrating Functional Electrical Stimulation Into the ABLE Exoskeleton

Inclusion Criteria: * 18 to 80 years old * Diagnosis of acquired brain injury, spinal cord injury (neurological level between C5 and L2, AIS B to AIS D), or multiple sclerosis * Currently undergoing physiotherapy treatment, either as an inpatient or outpatient at the investigating center * Ability to provide informed consent Exclusion Criteria: * Significant osteoporosis that may increase the risk of fracture * Unresolved fractures in the pelvis or limbs, or a history of fragility fractures in the lower limbs within the past 2 years * Spinal instability (or use of spinal orthoses, unless medically approved) * Deterioration \>3 points of the total in the motor score of the International Standards for the Neurological Classification of Spinal Cord Injury (ISNCSCI) in the last 4 weeks. Loss of sensation and/or motor activity above the level of injury detected that has not been evaluated by a doctor. * Severe spasticity: Level 4 on the Modified Ashworth Scale * Orthostatic hypotension: Inability to tolerate at least 10 minutes in an upright position * Uncontrolled autonomic dysreflexia * Medical instability * Unstable cardiovascular condition, hemodynamic instability, untreated hypertension (SBP \> 140 mmHg, DBP \> 90 mmHg), deep vein thrombosis (DVT), or uncontrolled autonomic dysreflexia * Severe comorbidities, including any condition deemed inappropriate by the investigator for using the ABLE Exoskeleton or for completing the study * Pressure ulcers Grade I or higher (as de…