NAME OSAKA UNIVERSITY AFO Halstead University AFO

SOURCE

ACTIVE/PASSIVE Active Active

WEIGHT (kg) 1.6 ?

CONSTRUCTION/ MATERIAL

24 ?

TETHERED OR UNTETHERED

POWER SOURCE

ADVANTAGES

DISADVANTAGES

ACTIVE ELEMENT

RESISTIVE OR ASSISTIVE Resistive Resistive

The Design and Control of Active Ankle-Foot Orthoses

The Design and Control of Active Ankle-Foot Orthoses

DIMENSIONS [Qualitative Size]

MAX APPLIED TORQUE (Nm)

Magneto Rheological (MR) Damper

Magneto Rheological (MR) Damper

PERFORMANCE METRICS

Three healthy subjects

RESULTS

CONTROLLER Finite State Control Finite State Control

RANGE OF MOTION

Photo

Qualitative comparison of AFO sensor data

Qualitative comparison of AFO sensor data

EXPERIMENTAL EVALUATION

Single subject with right ankle flaccid paralysis

Qualitatively abserved an improvement in gait with the

controlled braking AFO

foot range of motion was properly restricted during

gait and stair climbing. Control algorithm succesfuly switched between functional

task

BIONic Walk Aide NESS L300 PneumaFlex

Active Active Active

? ? 0.13

? ? ?

Air Spring

Assistive Assistive Resistive

The Design and Control of Active Ankle-Foot Orthoses

The Design and Control of Active Ankle-Foot Orthoses

The Design and Control of Active Ankle-Foot Orthoses

Function electric stimulation (FES)

Function electric stimulation (FES)

?

?

?

Finite State Control Finite State Control NA

Kinematic data and physiological cost index (PCI)

Gait speed, heart rate, and temperal gait parameters (stance and swing time)

Single subject with nerve damage

24 subjets with chronic hemiparsis

Implantable micro stimulator produced balanced ankle

flexion with a low PCI score

Improved walking speed, decreased asymmetry, and

decreased temperal varability when using the

AFO

University of Illinois AFO Osaka University Hybrid AFO

Active Active Active

1 ? 0.4

? 4

Locking CAM Friction Break Oil Damper

Resistive Resistive Resistive

Kanagawa Rehabiliation Center AFO

The Design and Control of Active Ankle-Foot Orthoses

The Design and Control of Active Ankle-Foot Orthoses

The Design and Control of Active Ankle-Foot Orthoses

5-14 (10degrees of plantar flexion)

Single healthy subject Single healthy subject

NA NA NA

Joint angle kinematics, pneumatic line pressure

Kinematic data from the assisted led and insole pressure sensor data

Time, distance, and kinematic parameters

Two hemiplegic patients waked with oil damper

convention AFO

Joint angle data demonstrated proper foot

motion; pneumatic pressure data showed correct locking

sequence during gait

Kinematic data were used to verify the correct restriction

of joint range of motion durng swing.

No significant difference betweent the AFOs. Oil

damper's largest advantage was ease of adjustability.

Okayama University AFO Portable Powered AFO

Active Active Active

?

0.86 3.1 1.75

2 9Nm at 90 psig assist 60

Untethered Tethered

Carbon Dioxide bottle

High power consumption

Pneumatic actuator Pneumatic Actuator

Assistive Assistive Assistive

Arizona State University Active AFO

The Design and Control of Active Ankle-Foot Orthoses

A Portable Powered Ankle-Foot Orthosis for

Rehabilitation

Foot piece components were custom fabricated from preimpregnated carbon

composite laminate materials. The foot shell incorporated a shoe-last

profile that placed the heel 1cm higher with respect to

the metatarsal heads.

Offers a clinical tool in many areas of rehabilitation

Only lasts 37 minutes and low assistive torque

Electronic Actuation (Robotic tendon)

Electromyography (EMG) Kinematic and kinetic data

Single healthy subject Single healthy individual

NA N/A Finite State Control

3 Non disabled walkers and 1 disabled walkers

Decrease in EMG signal during trials indicates

supplemental assistance

Data from nondisabled walkers deomonstrated

functionality, and data from impared walker

demonstrated the ability to provide functional plantar

flexor assistance.

Control states were triggered correctly during gait. AFO

generated power comparable to a healthy

individual during level walking.

MIT Active AFO Richie Dynamic Assist Brace Fillauer Dynamic Walk

Active Passive

?

2.6 105-142 g

Plastic for the most part

? ? ?

Tethered Untethered Untethered

off board power supply N/A N/A

Heavy and bulky

Electronic Actuation Semi-rigid material

Resistive Resistive Resistive

Adaptive Control of a Variable-Impedance Ankle-

Foot Orthosis to Assist Drop-Foot Gait

www.richiebrace.com www.centri.se/pdf/dynamicwalk.pdf

Passive. Uses two "spring like hinges" to allow

dorsiflexion while still lifting the foot

35 mm Heel Cup. Orthotic Extends approx 8 inches up

calf

Length (230-270mm), width (67,5-88,5mm??), height

(320-370mm)

"Lighter than most AFOs" Exact # not given

Standard polypropylene AFO with a metallic hinge

Lightweight thermo-moldable carbon fiber

composite

Prevents foot drop, stable behavior in most

environments, low impedance, motor is isolated

from shock loads

Supports patients over 200 lbs. "Offers dynamic

dorsiflexion assist". Appears to fit inside normal shoe.

Only tighten one strap to put on

Very lightweight. Fits easily into regular shoes. High

strengthIs not capable of variable force depending on the severity of the foot drop

issue. No terrain sensing. Requires casting of patients

foot for fitting2 spring like hinges on either

side of the orthotic

Range of motion, weight, size

N/A

N/A N/A

15 degrees of dorsiflexion ?

2 disabled walkers and 3 non disabled walkers (all male

subjects)? This is commercially

available? This is commercially

available

Reduced the dominant complications of drop-foot gait. By actively adjusting

joint impedance, the occurrence of slap foot was

reduced and the swing phase ankle kinematics more

closely resembled normal.

Website offers testemonials (all of which are in support of

the brace obviously).

Microprocessor-controlled artificial knee

Ossur AFO Dynamic Soft Pneumatic Exoskeleton

Passive Active

75-140 g 3

Carbon Fiber "soft materials"

?

Untethered Untethered

N/A Carbon Dioxide bottle

finite usage time

Semi-rigid material Air muscle

Resistive Assistive

http://www.ossur.com/?PageID=13647

http://cwwang.com/2008/04/08/soft-pneumatic-exoskeleton/

Foot plate: 8.75"-11", Calf Height: 12-15.75", Heel

height: 0.4"-0.6"

Fits into shoe very easily, very lightweight

soft material, easily adjustable, portable

Doesn't appear excessively supportive

N/A

N/A

?

Suggested weight range up to 265 lbs

? This is commercially available