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A powered orthotic device includes a brace having a first section and a second section, the first section and the second section operationally coupled at a pivot, the first and the second sections moving about the pivot to define flexion and extension directions, such directions defining inside and outside regions of the brace respectively. The device further includes at least one set of straps that removably attach the first section and the second section to a corresponding limb segment such that the pivot is proximate to a joint between each limb segment. The device also includes and an electromyographic sensor and an actuator assembly in communication with the electromyographic sensor, the actuator assembly mounted to the brace, and occupying a volume of which a majority is disposed proximately to the outside region of the brace, and coupled to the first and second sections of the brace so as to apply a force for driving the first and second sections about the pivot, the force based on signals from the electromyographic sensor.