Table 1.
Detailed device specifications for exoskeletons that improved healthy, natural walking, and/or running economy versus using no device
| Number | LeadAuthor | Year | Metabolic Reduction (%) | Sample Size | Target Joint(s) | Auto /Tethered | Active /Passive | Walk /Run | Speed (m/s) | Mode | Device Mass (kg) | Note |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | G Sawicki | 2009 | 14 | 9 | Ankle | Tethered | Active | Walk | 1.25 | Level Ground | 2.36 | Long Step Lengths |
| 2 | P Malcolm | 2013 | 6 | 8 | Ankle | Tethered | Active | Walk | 1.38 | Level Ground | 1.52 | |
| 3 | L Mooney | 2014a | 8 | 7 | Ankle | Autonomous | Active | Walk | 1.5 | Level Ground | 4 | Load Carry (23 kg) |
| 4 | L Mooney | 2014b | 10 | 7 | Ankle | Autonomous | Active | Walk | 1.4 | Level Ground | 3.6 | |
| 5 | S Collins | 2015 | 7.2 | 9 | Ankle | Autonomous | Passive | Walk | 1.25 | Level Ground | 0.91 | |
| 6 | L Mooney | 2016 | 11 | 6 | Ankle | Autonomous | Active | Walk | 1.4 | Level Ground | 3.6 | |
| 7 | K Seo | 2016 | 13.2 | 5 | Hip | Autonomous | Active | Walk | 1.17 | Level Ground | 2.8 | |
| 8 | G Lee | 2017 | 5.4 | 8 | Hip | Tethered | Active | Run | 2.5 | Level Ground | 0.81 | |
| 9 | S Galle | 2017 | 12 | 10 | Ankle | Tethered | Active | Walk | 1.25 | Level Ground | 1.78 | |
| 10 | Y Lee | 2017 | 13.2 | 5 | Hip | Autonomous | Active | Walk | 1.14 | Level Ground | 2.6 | |
| 11 | K Seo | 2017 | 15.5 | 5 | Hip | Autonomous | Active | Walk | 1.17 | Inclined Slope | 2.4 | 5% grade |
| 12 | H Lee | 2017 | 7 | 30 | Hip | Autonomous | Active | Walk | 1.1 | Level Ground | 2.8 | Elderly |
| 13 | R Nasiri | 2018 | 8 | 10 | Hip | Autonomous | Passive | Run | 2.5 | Level Ground | 1.8 | |
| 14 | S Lee | 2018 | 14.9 | 7 | Hip, Ankle | Autonomous | Active | Walk | 1.5 | Level Ground | 9.3 | Load Carry (6.8 kg) |
| 15 | Y Ding | 2018 | 17.4 | 8 | Hip | Tethered | Active | Walk | 1.25 | Level Ground | 1.37 | |
| 16 | J Kim | 2018 | 3.9 | 8 | Hip | Autonomous | Active | Run | 2.5 | Level Ground | 4.7 | Hybrid System |
| 17 | D Kim | 2018 | 10.16 | 15 | Hip | Autonomous | Active | Walk | N/A | Stair Ascent | 2.8 | Elderly/128 Steps |
| 18 | F Panizzolo | 2019 | 3.3 | 9 | Hip | Autonomous | Passive | Walk | 1.1 | Level Ground | 0.65 | Elderly |
| 19 | M MacLean | 2019 | 4.2 | 4 | Knee | Autonomous | Active | Walk | 0.5 | Inclined Slope | 8.4 | Load Carry (18.1 kg) / 15 deg incline |
| 20 | C Simpson | 2019 | 6.4 | 12 | Hip | Autonomous | Passive | Run | 2.67 | Level Ground | N/A | Ankle Attachment |
| 21 | J Kim | 2019 | 9.3 | 9 | Hip | Autonomous | Active | Walk | 1.5 | Level Ground | 5 | Hybrid System |
| 22 | J Kim | 2019 | 4 | 9 | Hip | Autonomous | Active | Run | 2.5 | Level Ground | 5 | Hybrid System |
| 23 | B Lim | 2019 | 19.8 | 6 | Hip | Autonomous | Active | Walk | 1.11 | Level Ground | 2.1 | |
| 24 | C Khazoom | 2019 | 5.6 | 8 | Ankle | Tethered | Active | Walk | 1.4 | Level Ground | 6.2 |