Table 3.

Comparison of AAFOs in mass and effect.

Author	Motion Control Elements	Mass	Effect	Ref.
Neubauer, B	Hydraulic boost	1 Kg at the ankle, 4.5 Kg at the Waist	Maximum 60 N·m auxiliary torque	[32]
Ferris, D	Artificial Pneumatic Muscle	Total weight 1.7 Kg	64% reduction in peak plantarflexion torque and 23% increase in peak dorsiflexion torque	[35]
Cain, S	Artificial Pneumatic Muscle	——	53% reduction in peak plantarflexion torque	[36]
Shorter, K	Bidirectional pneumatic rotary actuator	1.9 Kg at the ankle, total weight 3.1 Kg	Provides 9 N·m plantarflexion torque	[38]
Noel, M	Electro-hydraulic system	Total weight 1.7 Kg	Provide 20 N·m auxiliary torque	[43]
Kim, S	Pneumatic components	0.5 Kg at the ankle, total weight 2.6 Kg	Provide 9.8 N·m plantarflexion torque	[44]
Choi, H	Artificial Pneumatic Muscle	1.44 Kg at the ankle, total weight 2.14 Kg	——	[46]