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. 2019 May 9;16:55. doi: 10.1186/s12984-019-0517-9

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© The Author(s). 2019

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 2 — Charactesristics of the studied exoskeletons with compliant actuation11. a The exoskeletons are classified according to their compliant actuator. Exoskeletons with SEAs and VSAs are classified according to the elastic component type. Exoskeletons with pneumatic actuation are classified according to the pneumatic artificial muscle type. b The graph represents the relation between exoskeletons weights and maximum delivered torques. The elastic component and the pneumatic artificial muscle types are also shown