Exoskeletons act in series or in parallel to a human limb to assist in motion economy by augmenting joint torque and work done. An ankle-foot orthosis (AFO) is a type of exoskeleton that surrounds the ankle and foot. AFOs are externally applied and intended to control position and motion of the ankle, compensate for weakness, or correct deformities. AFOs can be divided into three groups which are passive, active, and hybrid. Since hybrid AFOs combine the advantages of passive and active AFOs by compliant actuators, they are more advantageous than other types of AFOs. The goal of this study is to build a hybrid AFO prototype for rehabilitation purposes and endurance augmentation.