Abstract
The ankle exoskeleton is an auxiliary device designed to restore human independence. This paper proposes the development and initial testing of a passive ankle exoskeleton designed for movements with dorsal and plantar flexion. The device also includes a new mechanism design with four electric linear actuators, and the shank platform and the foot platform are connected to the ball by a swivel joint. Mechanical tests demonstrate the ability of the prototype to function adequately in the natural range of the ankle joint. Preliminary results show that the exoskeleton can reduce the activation of the calf muscles on the limb on which the device is installed. In the investigation of a passive ankle joint exoskeleton designed for movements with dorsal and plantar flexion, numerical test results can be highlighted by focusing on parameters such as speed, acceleration, and translation moment. These measurements provide valuable information about the performance and effectiveness of the exoskeleton. By focusing on these numerical test results, it is possible to obtain an idea of the performance of the exoskeleton, understand its impact on the movements of the ankle joint, and make informed decisions for further improvements or optimization of the design.