Table 2.

Overview of wearable ankle robot based PMA.

References	Weight	Actuator	An/Posterior	Single/double	Control	DOF	Peak torque
Ferris et al., 2005	1.6 kg	PMA	An/Posterior	Single	Tibialis anterior EMG Soleus EMG	Df/ Pf	38 Nm Df 70 Nm Pf
Ferris et al., 2006	1.7 kg	PMA	An/Posterior	Single	Tibialis anterior EMG Soleus EMG	Df/ Pf	20.7 Nm Df 50.7 Nm Pf
Sawicki et al., 2005	/	PMA	Posterior	Single	Soleus EMG	Pf	27 Nm Pf
					Footswitch	Pf	1.16 Nm/kg Pf
					Pushbutton (PC/TC)	Pf	/
Sawicki et al., 2006	1.1 kg	PMA	Posterior	Single	Pushbutton (PC/TC)	Pf	0.33 ± 0.02 Nm/kg Pf
Koller et al., 2015	2.08 kg	PMA	Posterior	Single	Soleus EMG	Pf	/
Koller et al., 2018					Soleus EMG Footswitch	Pf	/
Kao et al., 2010	1.1 kg	PMA	Posterior	Double	Soleus EMG	Pf	50.09 ± 12.05 Nm Pf
Kao and Ferris, 2009	/	PMA	Anterior	Single	Tibialis anterior EMG	Df	0.12 ± 0.09 Nm/kg Df
Bharadwaj et al., 2005; Ward et al., 2007	/	SOM	Anterior	Double	Position control	Df/ Pf Is/Es	/

TC, therapist control; PC, patient control; Df, Dorsiflexion; Pf, Plantar flexion; Is, inversion; Es, eversion.