Impairments of Ankle foot is caused neurological issues and accidental reasons. Generally these ankle impairments are treated with Ankle foot orthosis. Use of passive orthotic device is common, passive devices are not able to give better performance, they merely provide support. Active orthotic devices are current trend of research, to overcome limitation of passive orthosis. Currently available Active ankle foot orthosis have some limitations which are very critical. Performance parameters for any ankle foot orthosis are dorsiflexion angle, plantar flexion angle, size, power and cost. Active ankle foot orthosis which are recently developed only provide fix dorsiflexion and plantar flexion movement. This paper propose methodology to achieve dorsiflexion and plantar flexion movements adaptively, which is achieved by taking reference of healthy foot to drive impaired ankle foot movements. © 2015 IEEE.