iWalk Inc., a Bedford company that uses innovations in bionics to help people with lower-limb loss gain more mobility, said Thursday that it has closed a private Series D equity financing round of $17 million.

The financing was led by new investor Gilde Healthcare Partners. Existing investors, including WFD Ventures, General Catalyst Partners, and Sigma Partners, also participated in the round, the company said in a press release.

Geoff Pardo, partner at Gilde Healthcare Partners, has joined the iWalk’s board of directors.

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One iWalk product is the BiOM Ankle System, which emulates an individual’s calf muscles and Achilles tendon function to provide powered plantar flexion; that helps people with limb loss move with a natural gait by using the same metabolic energy as a non-amputee, iWalk said.

The company was founded in 2006 by Dr. Hugh Herr, director of the Biomechatronics Group at the MIT Media Lab.