Gait mode recognition and control for a portable-powered ankle-foot orthosis.

Ankle foot orthoses (AFOs) are widely used as assistive/rehabilitation devices to correct the gait of people with lower leg neuromuscular dysfunction and muscle weakness. We have developed a portable powered ankle-foot orthosis (PPAFO), which uses a pneumatic bi-directional rotary actuator powered by compressed CO2 to provide untethered dorsiflexor and plantarflexor assistance at the ankle joint. Since portability is a key to the success of the PPAFO as an assist device, it is critical to recognize and control for gait modes (i.