Design and Biomechanical Evaluation of a Lightweight Low-Complexity Soft Bilateral Ankle Exoskeleton
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866914341787271168 |
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| author | Mallah, Josée Javed, Zakii Azak, Zafer Stone, Thomas Occhipinti, Luigi G. |
| author_facet | Mallah, Josée Javed, Zakii Azak, Zafer Stone, Thomas Occhipinti, Luigi G. |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_18569 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Design and Biomechanical Evaluation of a Lightweight Low-Complexity Soft Bilateral Ankle Exoskeleton Mallah, Josée Javed, Zakii Azak, Zafer Stone, Thomas Occhipinti, Luigi G. Robotics Systems and Control 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. |
| title | Design and Biomechanical Evaluation of a Lightweight Low-Complexity Soft Bilateral Ankle Exoskeleton |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.18569 |