Evaluation of an adjustable ankle-foot orthosis impact on walking stability during gait transitional phases

•This study introduces method to quantify walking stability during gait transitions.•Nyquist and bode methods are introduced to quantify walking stability.•Proposed methods investigate impacts of adjustable orthosis on walking stability.•Results showed significant effect of wearable orthoses on walking stability.•A moderate to severe AFO restrictions are essential to achieve normal stability.