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Conceptual designs of ankle orthoses utilizing electrical actuators: (a) knee-ankle-foot orthosis by National University of Singapore; (b) soft exosuit by Harvard University; (c) autonomous battery-powered exoskeleton by MIT; (d) an advanced orthosis by Carnegie Mellon University; (e) Achilles ankle exoskeleton by Delft University; (f) portable powered ankle-foot orthosis by Beijing Institute of Technology.
