The Current Design, Development, and Challenges of Ankle(-foot) Exoskeletons
Kacey Song, Hyoju Kim, Minsuk Kim, Elisha Kim, Ezra Lee, Michelle Tan, Audrey Lee, Ho Yeon Kim, Young Bok Kang
13/10/2026
The ankle(-foot) exoskeleton focuses on restoring or enhancing movement and mobility in the ankle musculature for individuals with neurological or physical impairments. Beyond mobility, it can improve the functional alignment and support of the skeletal structure. Whether through the integration of artificial intelligence (AI), advanced mechanical designs, or innovative materials, the ankle-foot exoskeleton continues to evolve, significantly improving patient outcomes and overall quality of life. This review outlines the key developments of the ankle-foot orthosis and the various ways it has improved and continues to improve over time in benefiting human life. Additionally, it not only focuses on active exoskeletons but also passive exoskeletons that have been used in the last decade, which could be used as references to find ways to improve the device. Moreover, it outlines the limits and challenges one might encounter in ankle exoskeleton construction, adaptation, or research.