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The six phases of exoskeleton calibration, data-gathering, and test protocol
| Exoskeleton | Assistance source | Tasks | ||||
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| Phase | Name | Structure | Passive | Active | Weight lifting | Free motion |
| 1 | Sensor calibration |
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| 2 | Data-gathering |
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| 3 | Inactive exoskeleton |
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| 4 | Fully passive |
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| 5 | Active–passive |
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| 6 | Fully active |
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