Design and manufacturing of a soft ankle exosuit for dorsiflexion assistance

Impeded dorsiflexion during the swing phase of the gait cycle is a common difficulty faced by stroke patients. The Neuromuscular Physiology and Neural Interfacing Lab seeks to develop an EMG-controlled neuroprosthesis to assist dorsiflexion. To investigate EMG data collection and processing separately, a soft ankle exosuit shall be developed in this master thesis.

The Institute of Autonomous Systems and Mechatronics pursues related research goals and will support the organization and supervision of the thesis.


The goal is to design and build a prototype of a one degree of freedom soft ankle exosuit which can be actuated based on EMG measurements to support the wearer’s dorsiflexion (i.e. lifting the ball of the foot). This includes a literature research on the topic, mechanical and mechatronic design as well as the assembly.

The picture shows an existing 3d-printed cable-driven soft exoskeleton for a finger which can be used for inspiration.


  • Studies in mechatronics, medical, mechanical, electrical or computational engineering
  • Independent working style and high motivation
  • Previous knowledge of (elastic) mechanical design, 3d printing and/or biomechanics is an advantage


Please contact Marius Oßwald for further information.

Announcement PDF