A robotic ankle-foot orthosis (AFO) that provides powered assistance could adjust to varying gait dynamics much better than a rigid AFO. To provide insight into how humans would adapt to a powered AFO, we studied the response of neurologically intact subjects walking with an active dorsiflexion assist orthosis proportionally controlled by tibialis anterior electromyography (EMG). We examined the two mechanical functions of ankle dorsiflexors in gait (power absorption at heel strike and power generation at toe-off) by recruiting two groups of healthy subjects: Group One, called Continuous Control (n = 5), had dorsiflexion assistance both at the initial heel contact and during swing; Group Two, called Swing Control (n = 5), had the assistance only during swing. We hypothesized both groups of subjects would reduce tibialis anterior EMG amplitude with practice walking with the powered dorsi-flexion assist. Ten healthy subjects were fitted with custom-made orthoses that included an artificial pneumatic muscle providing dorsiflexor torque. We collected lower body kinematics, EMG, and artificial muscle force while subjects walked on a treadmill for two 30-min training sessions. We found that subjects walked with increased ankle dorsiflexion by 98 but showed different adaptation responses of the two tibi-alis anterior EMG bursts. The first EMG burst around heel strike had 28% lower amplitudes (p < 0.05) but the second EMG burst during swing had similar amplitudes. These results provide baseline data of EMG controlled dorsiflexion assist in neurologically intact humans that can be used to guide future studies on neurologically impaired individuals.

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