... of actuators in the device, it will be used as a training device to restore a normal walking pattern. 10 05 2005 04 12 2006 biomechanics couplings kinematics muscle orthotics prototypes During the swing phase of a gait cycle, the ankle is dorsiflexed (rotated upward) to allow...

... illustrate the gravity balancing feature of the orthosis and examine the assumptions through computer simulations. 24 03 2004 04 10 2004 orthotics springs (mechanical) gait analysis motion control handicapped aids In the literature, gravity balancing of machines has been...