In one embodiment of the invention, an orthotic apparatus includes a frame structure having an upper frame portion moveable relative to a lower frame portion. The orthotic apparatus further includes at least one strap attached to the upper frame portion and the lower frame portion of the frame structure. The at least one strap and the frame structure, together, are configured to apply a therapeutic moment to a joint of a limb responsive to positioning the limb within a limb-receiving space formed between the at least one strap and the frame structure.