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T-FLEX is a wearable and portable active ankle-foot orthosis, which incorporates concepts of bioinspiration and variable stiffness actuation. The main goal of this exoskeleton consists of assisting the dorsi-plantarflexion movements of the ankle joint, although without restricting the other motions (i.e., eversion, inversion, pronation, and supination). T-FLEX emulates the muscle functions employing the bidirectional antagonistic actuation and the mechanical behavior of the Achilles tendon through composite filaments. In terms of operability, a smart device can configure T-FLEX to work as a gait assistant or robotic platform in the therapy modality.

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