Extended Data Fig. 3: Diagram of untethered exoskeleton electromechanical hardware.

These computer-aided design drawings depict the hardware elements of the untethered exoskeleton. The primary components are labelled. An image of the entire device, including textile components, can be found in Fig. 4b. A running shoe (not pictured) is attached to the toe strut with pins that extend from the tip of the toe strut into a carbon fiber plate embedded in the sole of the shoe. The heel of the running shoe is attached to the heel spur by a rope (not pictured) tied into holes on either side of the heel spur and passing through a plastic tube embedded in the sole of the shoe. A Vectran transmission cable (not pictured) transmits force from the drum to the tip of the heel spur. At the top of the calf strut, Velcro straps (not pictured) are connected to the strut through slots. These straps adhere to a separate Velcro strap (not pictured) worn on the shank of the leg, just below the knee. A complete bill of materials and set of computer-aided design files for this untethered exoskeleton assembly is included as Supplementary Data 2.