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Occupational exoskeletons classification based on kinematic structure (a) and type of actuation (b). Concerning the kinematics, rigid-structure devices can be classified in anthropomorphic and nonanthropomorphic devices, whereas soft exosuits do not present any kinematic structure. Actuation types include passive, semi-active, and active systems. In the picture actuation types are depicted for an anthropomorphic device. Sketches are provided for upper-limb devices.
