Avariable 三 mpedance ankle joint of lower limb orthos 量 s fc 〕r paraplegia was develo 芦 ed app 要 ying MR techno 墨 ogy . Dorsal flexion of ankle joint in swing phase is usefUI to get cleararlce between fbot sole and floor for easily canying a め wer limb ftorn aft to fbre , and plantar flexion eontrol at heel contact isし嚀e 」 iul fbr smoothly roll 三 ng over Qf body 倉om afヒto fbre . To reaHze these , MR brake is instaUed in the ankle joint of orthosis , which is fan , shaped arld made of a ] uminum

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... alloy to move 70 degrees 倉 om dorsal to plantar fiexion . The MR brake fil 三 ed wlth MR ( magneto −rheo 三 〇 gical ) fluld has a smal 三 gap in the mQvlng vane 血 ough which Mk fluid move , and flow viscoslty is quickly changed by a small electromagnet . MR brake is act 量 vely controlled dur呈 ng the swing phase and heel contact detected by the compressive fbrce and bending moment sensor 血stalled ln the shank of or 血osis , Key 〃 b 厂ds; lower limb orthosis , dors ちaexion con 鱒 1 , Plantar 」 7exion control , MR brake , paraplegi