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

Source: [Design and Biomechanical Evaluation of a Lightweight Low-Complexity Soft Bilateral Ankle Exoskeleton](<https://www.sota2.com/research/paper/699d30916017c4460ffab440>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-25T05:00:03.907Z

Authors: Jos\\'ee Mallah, Zakii Javed, Zafer Azak, Thomas Stone, Luigi G. Occhipinti

Published: 2026-02-20T19:16:54.000Z

## 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.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2602.18569>)

[PDF](<https://arxiv.org/pdf/2602.18569.pdf>)