The purpose of the Ankle Exoskeleton research project is to study biomechanics of the lower limb as well as robotics to create a motorized device that is controlled by the electrical signals in the muscles to assist in walking and running movements. A prototype for the ankle exoskeleton is being developed using hardware and software that will allow for the desired active range of motion in the plantarflexion and dorsiflexion degree of freedom. The prototype is structured for stability in the inversion, eversion, pronation, and supination motions. EMGs are used to send signals to the servo motor and gear box that power the exoskeleton\u27s movements. The use of pneumatic artificial muscles (PAM) has been proposed to replicate the gastrocnemius and other muscles that are primarily used while walking to interface the ankle exoskeleton with the knee exoskeleton that was modeled by a previous team. The use of the PAMs would decrease the bulkiness of the system while increasing mobility
