University of Delaware

Abhishek Agrawal

Sunil K Agrawal

Sai Banala

Stuart Binder-Macleod

An ankle-foot orthosis comprising a leg member; a foot member; a frameconnecting the leg member to the foot member, wherein the frame comprises a first revolute jointthat rotates about a first axisand a second revolute jointthat rotates about a second axis, wherein the first and second axes are non-parallel. The frame can further comprise a foot member segmentsecured to the foot memberand extending to the second revolute joint. The orthosis can comprise a first force-torque sensorlocated on the leg member, a second force-torque sensorlocated 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.

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Ann Arbor, MI, United States of America

Abhishek Agrawal