According to the Center for Disease Control and Prevention report around 29,668 United States residents aged greater than 65 years had died as a result of a fall in 2016. Other injuries like wrist fractures, hip fractures, and head injuries occur as a result of a fall. Certain groups of people are more prone to experience falls than others, one of which being individuals with stroke. The two most common issues with individuals with strokes are ankle weakness and foot drop, both of which contribute to falls. To mitigate this issue, the most popular clinical remedy given to these users is thermoplastic Ankle Foot Orthosis. These AFO's help improving gait velocity, stride length, and cadence. However, studies have shown that a continuous restraint on the ankle harms the compensatory stepping response and forward propulsion. It has been shown in previous studies that compensatory stepping and forward propulsion are crucial for the user's ability to recover from postural perturbations. Hence, there is a need for active devices that can supply a plantarflexion during the push-off and dorsiflexion during the swing phase of gait. Although advancements in the orthotic research have shown major improvements in supporting the ankle joint for rehabilitation, there is a lack of available active devices that can help impaired users in daily activities. In this study, our primary focus is to build an unobtrusive, cost-effective, and easy to wear active device for gait rehabilitation and fall prevention in individuals who are at risk. The device will be using a double-acting cylinder that can be easily incorporated into the user's footwear using a novel custom-designed powered ankle brace. The device will use Inertial Measurement Units to measure kinematic parameters of the lower body and a custom control algorithm to actuate the device based on the measurements. The study can be used to advance the field of gait assistance, rehabilitation, and potentially fall prevention of individuals with lower-limb impairments through the use of Active Ankle Foot Orthosis.