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Ankle-foot orthoses (AFOs) are orthotic devices that support the movement of the ankles of disabled people, for example, those suffering from hemiplegia or peroneal nerve palsy. We have developed an intelligently controllable AFO (i-AFO) in which the ankle torque is controlled by a compact magnetorheological fluid brake. Gait-control tests with the i-AFO were performed for a patient with flaccid paralysis of the ankles, who has difficulty in voluntary movement of the peripheral part of the inferior limb, and physical limitations on his ankles. By using the i-AFO, his gait control was improved by prevention of drop foot in the swing phase and by forward promotion in the stance phase.