An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness...http://www.google.es/patents/US8075633?utm_source=gb-gplus-sharePatente US8075633 - Active ankle foot orthosis
