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. 2012 Mar 30;9:17. doi: 10.1186/1743-0003-9-17

Figure 2.

Figure 2

Example upper extremity exoskeletons with at least four degrees of freedom, including ARMIn from ETH Zurich (left, 27), the L-Exos from Scuola Superiore Sant'Anna, Pisa, Italy (middle, 28), and the Able Exoskeleton from CEA/ISIR/Haption in France (right, 29).