In this study, we propose a hybrid gait orthosis that combines the advantages of functional electrical stimulation (FES) and a gait orthosis. The hybrid gait orthosis uses pneumatic muscles to control the hip joint and an electrical stimulation system to control the knee joint. It is intended to overcome the limitations of existing powered gait orthosis systems, which have difficulty controlling the knee joint. The hybrid gait orthosis was tested on a paraplegic patient, and the results showed that the patient was able to walk with a natural gait. The hybrid gait orthosis has the potential to improve the quality of life of paraplegic patients by allowing them to walk more naturally and with less effort.