{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T13:42:10Z","timestamp":1784209330025,"version":"3.55.0"},"reference-count":58,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2024,6,11]],"date-time":"2024-06-11T00:00:00Z","timestamp":1718064000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Shriners Hospitals for Children\u2014Philadelphia","award":["71011-PHI"],"award-info":[{"award-number":["71011-PHI"]}]},{"name":"Shriners Hospitals for Children\u2014Philadelphia","award":["1906128"],"award-info":[{"award-number":["1906128"]}]},{"name":"Shriners Hospitals for Children\u2014Philadelphia","award":["1803"],"award-info":[{"award-number":["1803"]}]},{"name":"Shriners Hospitals for Children\u2014Philadelphia","award":["U54-GM104941"],"award-info":[{"award-number":["U54-GM104941"]}]},{"name":"National Science Foundation I-Corps","award":["71011-PHI"],"award-info":[{"award-number":["71011-PHI"]}]},{"name":"National Science Foundation I-Corps","award":["1906128"],"award-info":[{"award-number":["1906128"]}]},{"name":"National Science Foundation I-Corps","award":["1803"],"award-info":[{"award-number":["1803"]}]},{"name":"National Science Foundation I-Corps","award":["U54-GM104941"],"award-info":[{"award-number":["U54-GM104941"]}]},{"name":"University Science Center\u2019s QED award","award":["71011-PHI"],"award-info":[{"award-number":["71011-PHI"]}]},{"name":"University Science Center\u2019s QED award","award":["1906128"],"award-info":[{"award-number":["1906128"]}]},{"name":"University Science Center\u2019s QED award","award":["1803"],"award-info":[{"award-number":["1803"]}]},{"name":"University Science Center\u2019s QED award","award":["U54-GM104941"],"award-info":[{"award-number":["U54-GM104941"]}]},{"name":"National Institute of Health DE-CTR ACCEL","award":["71011-PHI"],"award-info":[{"award-number":["71011-PHI"]}]},{"name":"National Institute of Health DE-CTR ACCEL","award":["1906128"],"award-info":[{"award-number":["1906128"]}]},{"name":"National Institute of Health DE-CTR ACCEL","award":["1803"],"award-info":[{"award-number":["1803"]}]},{"name":"National Institute of Health DE-CTR ACCEL","award":["U54-GM104941"],"award-info":[{"award-number":["U54-GM104941"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Conventional passive ankle foot orthoses (AFOs) have not seen substantial advances or functional improvements for decades, failing to meet the demands of many stakeholders, especially the pediatric population with neurological disorders. Our objective is to develop the first comfortable and unobtrusive powered AFO for children with cerebral palsy (CP), the DE-AFO. CP is the most diagnosed neuromotor disorder in the pediatric population. The standard of care for ankle control dysfunction associated with CP, however, is an unmechanized, bulky, and uncomfortable L-shaped conventional AFO. These passive orthoses constrain the ankle\u2019s motion and often cause muscle disuse atrophy, skin damage, and adverse neural adaptations. While powered orthoses could enhance natural ankle motion, their reliance on bulky, noisy, and rigid actuators like DC motors limits their acceptability. Our innovation, the DE-AFO, emerged from insights gathered during customer discovery interviews with 185 stakeholders within the AFO ecosystem as part of the NSF I-Corps program. The DE-AFO is a biomimetic robot that employs artificial muscles made from an electro-active polymer called dielectric elastomers (DEs) to assist ankle movements in the sagittal planes. It incorporates a gait phase detection controller to synchronize the artificial muscles with natural gait cycles, mimicking the function of natural ankle muscles. This device is the first of its kind to utilize lightweight, compact, soft, and silent artificial muscles that contract longitudinally, addressing traditional actuated AFOs\u2019 limitations by enhancing the orthosis\u2019s natural feel, comfort, and acceptability. In this paper, we outline our design approach and describe the three main components of the DE-AFO: the artificial muscle technology, the finite state machine (the gait phase detection system), and its mechanical structure. To verify the feasibility of our design, we theoretically calculated if DE-AFO can provide the necessary ankle moment assistance for children with CP\u2014aligning with moments observed in typically developing children. To this end, we calculated the ankle moment deficit in a child with CP when compared with the normative moment of seven typically developing children. Our results demonstrated that the DE-AFO can provide meaningful ankle moment assistance, providing up to 69% and 100% of the required assistive force during the pre-swing phase and swing period of gait, respectively.<\/jats:p>","DOI":"10.3390\/s24123787","type":"journal-article","created":{"date-parts":[[2024,6,11]],"date-time":"2024-06-11T12:11:00Z","timestamp":1718107860000},"page":"3787","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["DE-AFO: A Robotic Ankle Foot Orthosis for Children with Cerebral Palsy Powered by Dielectric Elastomer Artificial Muscle"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-0352-209X","authenticated-orcid":false,"given":"Vahid","family":"Mohammadi","sequence":"first","affiliation":[{"name":"Department of Biomechanics, University of Nebraska Omaha, Omaha, NE 68106, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohammad","family":"Tajdani","sequence":"additional","affiliation":[{"name":"Independent Researcher, Tehran 1417935840, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mobina","family":"Masaei","sequence":"additional","affiliation":[{"name":"Department of Biomechanics, University of Nebraska Omaha, Omaha, NE 68106, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sahel","family":"Mohammadi Ghalehney","sequence":"additional","affiliation":[{"name":"Department of Biomechanics, University of Nebraska Omaha, Omaha, NE 68106, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3749-2665","authenticated-orcid":false,"given":"Samuel C. K.","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Physical Therapy, University of Delaware, Newark, DE 19716, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4193-4769","authenticated-orcid":false,"given":"Ahad","family":"Behboodi","sequence":"additional","affiliation":[{"name":"Department of Biomechanics, University of Nebraska Omaha, Omaha, NE 68106, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,6,11]]},"reference":[{"key":"ref_1","unstructured":"(2024, May 09). 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