This report gives a detailed review of the design of wearable ankle exoskeleton. In the last two decades, wearable ankle exoskeletons have evolved based on design, controllability, and human compatibility. They are used for various applications related to rehabilitation, assistance, and augmentation. The goal is to develop an economical wearable ankle exoskeleton that has the same level of flexibility as a human foot and well serves the purpose of design. The design of a wearable ankle exoskeleton largely depends on the application it is intended to use. The design considerations, advantages, limitations, and prior work in the field of wearable ankle exoskeleton design for various applications have been discussed elaborately in this report.
Keywords: Wearable ankle robotic device, Anthropomorphic design, Exoskeleton.