A lower-leg exoskeleton that includes an inflatable actuator configured to be worn over a front portion of a leg of a user and configured to be disposed directly adjacent to and surrounding a joint of the leg of the user. The inflatable actuator is configured, when worn by the user, to receive and transmit an actuator load generated by the inflatable actuator around the joint of the user to a load contact point. Inflation of the inflatable actuator generates a moment about the joint of the user to cause flexion of the leg of the user.