  Exoskeletons are a promising technology that enables individuals with
mobility limitations to walk again. As the 2016 Cybathlon illustrated, however,
the community has a considerable way to go before exoskeletons have the
necessary capabilities to be incorporated into daily life. While most
exoskeletons power only hip and knee flexion, Team Institute for Human and
Machine Cognition (IHMC) presents a new exoskeleton, Mina v2, which includes a
powered ankle dorsi/plantar flexion. As our entry to the 2016 Cybathlon Powered
Exoskeleton Competition, Mina v2's performance allowed us to explore the
effectiveness of its powered ankle compared to other powered exoskeletons for
pilots with paraplegia. We designed our gaits to incorporate powered ankle
plantar flexion to help improve mobility, which allowed our pilot to navigate
the given Cybathlon tasks quickly, including those that required ascending
movements, and reliably achieve average, conservative walking speeds of 1.04
km/h (0.29 m/s). This enabled our team to place second overall in the Powered
Exoskeleton Competition in the 2016 Cybathlon.
