We constructed a powered ankle–foot orthosis for human walking with a novel myoelectric controller. The orthosis included a carbon fiber and polypropylene shell, a metal hinge joint, and two artificial pneumatic muscles. Soleus electromyography (EMG) activated the artificial plantar flexor and inhibited the artificial dorsiflexor. Tibialis anterior EMG activated the artificial dorsi-flexor.We collected kinematic, kinetic, and electromyographic data for a naive healthy subject walking with the orthosis. The current design improves upon a previous prototype by being easier to don and doff and simpler to use. The novel controller allows naive wearers to quickly adapt to the orthosis without artificial muscle co-contraction. The orthosis may be helpful in studying human walking biomechanics and assisting patients during gait rehabilitation after neurological injury.

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