An ankle foot brace having a heel stirrup, a lower lateral and medial uprights, and an upper lateral and medial uprights hinged to the respective lower uprights. By locating an address latch circuit at an equal distance from each pad train, characteristics of the setup time and hold time can be improved. The method further comprises determining a target value for the measured second phase current based on a value corresponding to a peak current for the first phase and identifying a current sensor error based on a difference between the measured second phase current and the target value. % alkaline earth oxide and 2 to 30 wt.