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Hip exoskeleton with different actuators. (a) Motor with gear reducer (Shimada et al., 2009; Yasuhara et al., 2009; Buesing et al., 2015; Yang et al., 2021). (b) SEA (Giovacchini et al., 2015; Kang et al., 2018; Zhang et al., 2019a). (c) Pneumatic actuator (Young et al., 2017b; Thakur et al., 2018). (d) Motor with Bowden cable (Kim et al., 2019; Tricomi et al., 2022). (e) Passive (Zhou et al., 2021a,b).
