🧪 Medical Technology Rehabilitation Technology Simulation

This simulation models a powered ankle-foot orthosis (AFO) — a rehabilitation technology used after stroke, spinal-cord injury or peroneal-nerve palsy to correct "foot drop". A sagittal-plane leg rig walks through a full gait cycle while you control the patient's own dorsiflexor strength, the walking cadence, and the assistive device's type and intensity. The device activates only during the swing phase, ramping the ankle toward a clearance-safe dorsiflexion target with realistic first-order actuator dynamics — functional electrical stimulation lags behind a robotic motor, exactly as it does in real devices. Toe clearance is read directly off the 3D forward-kinematic chain, and every geometric toe-drag is logged as a drop-foot event, making the practical value of gait-triggered assistance directly visible.