A new soft orthotic device, based on the muscle-ligament structure of the leg, employs four pneumatic artificial muscles capable of both dorsiflexion and plantarflexion as well as ankle inversion and eversion. The tubes connect to a skinlike sock and various sensors. The AFO was developed by Yong-Lae Park of Carnegie Mellon University, along with colleagues from Harvard University, the Massachusetts Institute of Technology and the University of Southern California, as well as wearable-sensor company BioSensics.

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