A soft robotic ankle-foot orthosis exosuit includes a brace configured to be worn on a user's foot, a first soft actuator, a second soft actuator, and a pneumatic system. The first soft actuator is coupled to the brace so that it is configured to be positioned proximate a top of the user's foot. The second soft actuator is also coupled to the brace and is configured to be positioned proximate a side of the user's foot. The pneumatic system is configured to change an internal pressure of the first soft actuator and the second soft actuator.
