Experimental Characterization of Almaty Ankle Joint Exoskeleton

The ankle joint exoskeleton is a supplementary apparatus intended to enhance human independence. This study presents the concept and initial evaluation of a passive ankle exoskeleton specifically engineered for movements involving dorsal flexion and plantar flexion. The device incorporates a novel mechanism design featuring four electric linear actuators, while the shank platform and foot platform are connected to the ball via a swivel joint. The functional testing validates the prototype's ability to operate effectively within the natural range of ankle joint motion. Preliminary findings indicate that the exoskeleton can diminish the activation of the calf muscles in the limb where the device is deployed.