Design and Biomechanical Evaluation of a Lightweight Low-Complexity Soft Bilateral Ankle Exoskeleton

Abstract:Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight, low-complexity, soft bilateral ankle exoskeleton for plantarflexion assistance, with a shoe attachment design that can be mounted on top of any pair of shoes. Experimental tests show no significant difference in lower limb kinematics and kinetics when wearing the exoskeleton in zero-torque mode relative to not wearing an exoskeleton, showing that our device does not obstruct healthy gait, and proving it as a compliant and comfortable device, promising to provide effective assistance. Hence, a control system was developed, and additional tests are underway.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2602.18569 [cs.RO]

(or arXiv:2602.18569v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2602.18569 Focus to learn more arXiv-issued DOI via DataCite

https://doi.org/10.1109/AIM65483.2026.11658024 Focus to learn more DOI(s) linking to related resources

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