Robotic AFO to enhance walking capacity: initial development

Robotic AFO to enhance walking capacity: initial development

For access to this article, please select a purchase option:

Buy article PDF
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Your details
Why are you recommending this title?
Select reason:
Electronics Letters — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

The development of an active ankle foot orthosis (AFO) to enhance the walking capacity is presented. The proposed device consists of a linear actuator mechanism with supportive brace and is controlled by measuring user's interaction force. Initial experimental characterisation of performance of the control system and system usability tested on healthy individuals are reported. Results indicate a decrease in muscle activation, by a factor of 29 and 26% for plantar flexion and dorsiflexion motion while walking with assistance from the developed AFO. The developed system has potential application in the field of assistive technology for geriatrics or for patient with mobility impairments, muscle weakness or as a performance enhancer.


    1. 1)
    2. 2)
      • 2. Sawicki, G.S., Gordon, K.E., Ferris, D.P.: ‘Powered lower limb orthoses: applications in motor adaptation and rehabilitation’. Proc. 2005 IEEE Int. Conf. on Rehabilitation Robotics (ICORR), Chicago, Illinois, 28th June–1st July 2005, pp. 206211.
    3. 3)
      • 3. Mooney, L., Rouse, E., Herr, H.: ‘Autonomous exoskeleton reduces metabolic cost of walking’. Int. Conf. IEEE Engineering in Medicine and Biology Society, Chicago, Illinois, 26th–30th August 2014, pp. 30653068.
    4. 4)
      • 4. Patara, A., Abdul Halimb, H.N., Ramlic, H., Mahmudd, J.: ‘Computational design and analysis of a new hybrid actuating system for ankle foot orthosis (AFO)’. First Joint Int. Symp. on System-Integrated Intelligence, Hanover, Germany, 27–29th June 2012, pp. 914.
    5. 5)
      • 5. Hitt, J., Oymagil, A., Sugar, T., Hollander, K., Boehler, A., Fleeger, J.: ‘Dynamically controlled ankle-foot orthosis (DCO) with regenerative kinetics: incrementally attaining user portability’. IEEE Int. Conf. on Robotics and Automation Roma, Italy, 10–14th April 2007.
    6. 6)
      • 6. Tanida, S., Kikuchi, T., Kakehashi, T., et al: ‘Intelligently controllable ankle foot orthosis (I-AFO) and its application for a patient of Guillain–Barre syndrome’. IEEE 11th Int. Conf. on Rehabilitation Robotics, Kyoto Int. Conf. Center, Japan, 23–26 June 2009.
    7. 7)

Related content

This is a required field
Please enter a valid email address