Soft Pneumatic Exoskeleton : Ankle Support


The ankle support is a low profile sleeve around the foot and a strap at the heel to connect to the air muscle. A shorter 12″ muscle connects the ankle support to the calf. The calf attachment is now constructed out of a single piece of leather with nylon reinforcement at the top to prevent buckling and stretching when the air muscle is actuated. It’s ideal to have the solenoid valve as close to the air muscle as possible, so I’m going to have to make room for that somewhere on the calf.