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. 2022 Aug 1;3:e18. doi: 10.1017/wtc.2022.14

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© The Author(s) 2022

This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0), which permits unrestricted re-use, distribution and reproduction, provided the original article is properly cited.

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Figure 15. — The experimental setup to investigate the effectiveness of the soft robotic ankle-foot orthosis with flat fabric pneumatic artificial muscle (ff-PAM) actuation for ankle plantarflexion assistance during walking. (a) The split belt treadmill with the safety harness, as well as the compressor and control box, which sit beside the testing area. (b) The ff-PAM placement is shown where the dual actuator setup is paired with the fabric connector to run between the back of the knee and the base of the heel. Tensile force applied to the posterior end of the foot to generate a torque about the ankle. (c) Pressure levels are monitored throughout the walking experiment, and measured actuation pressures as a function of gait phase during walking are recorded.