Originally Posted by mnemia

I use AFOs to walk and SPD mountain bike-style clipless pedals on both my road bike and my hybrid. I did have a little difficulty learning how to clip in and release them effectively due to my ankle weakness, but I eventually got it through a combo of practice and adjusting the pedal spring tension. I'm not sure what your particular disability is (mine affects both legs), so YMMV. But if you have the strength to use clipless, they will prevent the ankle rolling. You may also require some other adjustments and adaptations; I recommend talking to a qualified orthotist and knowledgable bike shop about your particular situation.