Improving Passive Ankle Foot Orthosis System Using Estimated Ankle Velocity Reference

This study aims to investigate an appropriate ankle velocity reference (ω_ref), which is the average ankle velocity of a certain healthy subject when walking with a certain walking speed. The goal is to improve a Passive Controllable Ankle Foot Orthosis (PICAFO) by implementing the ankle velocity reference. Firstly, the function to estimate ω_ref, based on walking speed and body mass index (BMI), is obtained from 16 able-bodied subjects walking gait data. The effect of controlled stiffness (based on wref) to the user's ankle kinematics and muscle activity was evaluated by comparing it to other settings, such as walking barefooted and various constant damping stiffness (0%, 30%, 60%, and 100% of the maximum damping stiffness). Two able-bodied subjects (normal and overweight) participated in the evaluation, where they had to walk at two different walking speeds (1 and 2 km/h). The result showed that ankle kinematics and muscle activity were improved when w was controlled during walking speed of 1 km/h for both subjects. In terms of ankle kinematics, the toe clearance occurred, and walking stability increased. In terms of muscle activity, the average muscle activity had reduced by ~29% for the normal subject and by ~57% for an overweight subject, which shows that PICAFO provides necessary damping stiffness to replace the muscle works partially. In the future, by using the ω_ref based on walking speed and BMI, the therapists can skip the trial and error process of finding an appropriate PICAFO prescription for a post-stroke patient.