US Patent 12115093 Soft actuator ankle support assembly

An ankle support assembly includes a body having a plurality of fabric layers. The body extends along a longitudinal axis. A sealed, inflatable chamber is supported by the body. A valve member is supported by the body and in fluid communication with the chamber. A plurality of retaining members are positioned relative to the chamber. The retaining members are spaced apart from each other. The retaining members are configured to limit expansion of the chamber in at least one direction. The retaining members are positioned relative to the chamber such that the body has a variable stiffness along the longitudinal axis when the chamber is inflated.