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A miniature homogenous charge compression ignition (HCCI) free-piston engine compressor aimed at an ankle-foot orthosis application is described. Analysis of the human ankle shows that a fluid power source in the neighborhood of 10 W is needed. To account for compressor and actuator inefficiencies, the power output at the engine cylinder is designed to be 30 W. A compact engine compressor package has been designed and mathematically modeled. Experiments using existing engine components characterized the leakage model. Through the dynamic simulation of the engine, major parameters of the engine have been specified. Simulations indicate that the HCCI free-piston engine compressor, designed in a prototype package scale of about 80×40×20 mm is a viable compact and efficient fluid power supply. Simulation results demonstrate that the overall efficiency of the engine compressor is expected to be 5.9% and that the package should have a higher energy density than batteries.