Investigating the Effects of Wearable Robotic Exoskeleton for Improving Mobility and Cognition in Persons With MS

Inclusion Criteria: * Be diagnosed with multiple sclerosis. * Be determined by the study staff to have moderate to severe difficulty walking but still be able to walk while using the robotic exoskeleton. * Have some difficulty thinking and problem solving as determined by my performance on a special test that I will take during the screening visit. * Be between the ages of 18 and 75. * Be free from flair ups of my MS Symptoms for at least one month prior to testing. * Discuss with study staff how to maintain a constant level of my spasticity medication (for example baclofen) throughout the study. * Be able to walk (with the use of one or more assistive device if needed). * Have English as my primary language. * Be able to physically fit into the exoskeleton device: height between 60 and 76", weight under 220 lbs. * Be able to tolerate upright standing for 30 minutes with assistance if needed. * Have normal joint range of motion for walking as determined by study staff. * Have sufficient strength to use the hemiwalker, bilateral canes or walker while wearing the RE. * Have stable blood pressure. * Be willing and able to give informed consent. * Be able and willing to comply with study procedures and follow directions and commands, verbal instructions, and follow-up requirements. Exclusion Criteria: * Have a history of head injury, stroke, seizures, or any other significant neurological history other than MS. * Have a high degree of difficulty in thinking and problem solving that prevents me from participating in the study as determined by my performance on a special test taken during the screening visit. * Be currently taking steroids, benzodiazepines, antipsychotics, and/or neuroleptics as determined by study staff review of my medications. * Be pregnant. * Be completely reliant on a wheelchair. * Have joint contracture or spasticity of any limb that limits normal range of motion during walking with assistive devices as determined by study staff. * Have skin issues that would prevent wearing the RE. * Have pressure sore stage 2 or higher located in an area that would negatively affect weight bearing, harness fit, or therapist assistance. * Have orthopedic issues or history that will interfere with walking or limit the range of motion of the lower limbs (e.g., knee replacement, inflammation) * Have been hospitalized for heart attack, heart surgery or acute heart failure within 3 months of enrollment in study. * Have any other medical conditions that my doctor or physical therapist feels would affect my ability to use the robotic device. * Have a pacemaker or other implanted electrical device, brain stimulator, aneurysm clip (metal clips on the wall of a large artery), metallic prostheses (including metal pins and rods, heart valves, and internal hearing aids \[cochlear implants\]), permanent eyeliner, implanted delivery pumps, or shrapnel fragments. * Have dental implants- I should discuss any dental implants with the investigators. * Have been told by my doctor that it is unsafe for me to have a regular MRI as part of my medical care.