Inventors:
Sunil Agrawal - Newark DE, US
Abhishek Agrawal - Ann Arbor MI, US
Sai Banala - Newark DE, US
Stuart Binder-MacLeod - Newark DE, US
International Classification:
A61F 5/00
Abstract:
An ankle-foot orthosis comprising a leg member ; a foot member ; a frame connecting the leg member to the foot member, wherein the frame comprises a first revolute joint that rotates about a first axis and a second revolute joint that rotates about a second axis , wherein the first and second axes are non-parallel. The frame can further comprise a foot member segment secured to the foot member and extending to the second revolute joint . The orthosis can comprise a first force-torque sensor located on the leg member, a second force-torque sensor located on the foot member, and an encoder positioned on one of the revolute joints. The invention includes a method of measuring ankle-foot-related forces comprising positioning a subject's leg and foot in an ankle-foot orthosis; collecting data from the first and second force-torque sensors; and analyzing the collected data to determine the motion of the subject's ankle.