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. Author manuscript; available in PMC: 2010 Mar 6.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2009;2009:2119–2124. doi: 10.1109/IEMBS.2009.5333984

Figure 1.

Figure 1

University of Michigan Human Neuromechanics Laboratory exoskeletons. Above left: ankle exoskeleton with artificial pneumatic muscle providing plantar flexor torque. Above middle: knee and ankle exoskeleton with artificial pneumatic muscles providing extensor and flexor torques. Above right: hip exoskeleton with a pneumatic cyclinder providing extensor and flexor torques.