A Multifunctional Ankle Exoskeleton for Mobility Enhancement of Gait-Impaired Individuals and Seniors.

This letter proposes a multifunctional ankle exoskeleton to safely expand the mobility. By applying torque to the ankle in dorsiflexion and plantarflexion, the exoskeleton prevents foot drop and foot slip and helps the ankle to push off the ground. The exoskeleton includes a remote center-of-motion (RCM) mechanism, a linear actuation module, and fastening modules. The RCM mechanism, which has two ...