Design Evaluation of a Passive Ankle Exoskeleton for Gait Training

Abstract

Stroke survivors often experience severe gait impairments that reduce mobility and independence, highlighting the need for innovative and practical rehabilitation solutions. Many existing devices are limited by their high cost, complexity, or invasive nature, making them inadequate for widespread use in clinical and athome settings. To address these challenges, we introduce the LegExoNET, a passive lower-limb exoskeleton capable of providing both assistance and resistance in ankle dorsiflexion and plantarflexion. During mechanical testing, the torques applied by the device decrease nonlinearly with a decrease in ankle angle. The device's lightweight, modular design ensures versatility and accessibility, establishing the LegExoNET as a promising tool for enhancing gait rehabilitation and promoting motor learning. Future work will include expanding to a multi-joint device while incorporating additional functions such as leg propulsion assistance.