Ankle exoskeleton system and method for assisted mobility and rehabilitation

A device, comprising:

• a motor;
• a force-transmitting linkage, mechanically coupled to the motor, wherein the force transmitting linkage comprises a first cable and a second cable coupled to the motor such that the motor applies tension to the first cable when rotating in a first direction and applies tension to the second cable when rotating in a second direction;
• a lower assembly including a joint mechanically coupled to the first and second cables, such that the joint experiences torque in a first direction upon application of tension to the first cable and experiences torque in a second direction upon application of tension to the second cable, the lower assembly being configured to engage a foot of a user;
• a controller, communicably coupled to the motor, wherein the controller is configured to transmit an instruction to the motor;
• and
• a sensor coupled to the lower assembly and communicably coupled to the controller, wherein the sensor is configured to detect motion or force of the joint;
• wherein the controller is configured to receive data from the sensor, and wherein the controller is configured to use the data to determine the instruction to be transmitted to the motor
• wherein the force-transmitting linkage includes a Bowden cable, and wherein the Bowden cable is adapted to have a length which is substantially matched to a length of a leg of the user, such that when the leg is straight the Bowden cable is substantially straight between the lower assembly and the motor, and such that when the Bowden cable is straight the Bowden cable acts to partially support the weight of the device by providing resistance to compressive force between lower assembly and the motor.