$a_f,a_l,a_t,a^{*}$	dimensions of the exoskeleton segments, $\mathrm{m}$
$b_f,b_f^{*},b_l,b_l^{*}$	dimensions of the exoskeleton segments, $\mathrm{m}$
$b_t,b_t^{*},c,c^{*}$	dimensions of the exoskeleton segments, $\mathrm{m}$
$l_f$	foot length, $\mathrm{m}$
$l_l$	shank length, $\mathrm{m}$
$l_t$	thigh length, $\mathrm{m}$
p	oil pressure, $\mathrm{Pa}$
W	user height, $\mathrm{m}$
${\mathrm{F}}_1,{\mathrm{F}}_2,{\mathrm{F}}_3$	actuator forces, $\mathrm{N}$
${\mathrm{C}}_x$, ${\mathrm{C}}_y$	components of hip forces (vertical, horizontal), $\mathrm{N}$
${\mathrm{G}}_x$, ${\mathrm{G}}_y$	components of knee forces (vertical, horizontal), $\mathrm{N}$
${\mathrm{K}}_x$, ${\mathrm{K}}_y$	components of ankle forces (vertical, horizontal), $\mathrm{N}$
${\theta }_a$	ankle joint angle, $\mathrm{rad}$
${\theta }_f$	foot angle to coronal plane, $\mathrm{rad}$
${\theta }_h$	hip joint angle, $\mathrm{rad}$
${\theta }_k$	knee joint angle, $\mathrm{rad}$
${\theta }_l$	shank angle, $\mathrm{rad}$
${\theta }_p$	pelvis angle, $\mathrm{rad}$
${\theta }_t$	thigh angle to coronal plane, $\mathrm{rad}$
${\dot{\theta }}_h$	hip joint angular velocity, $\mathrm{rad}/\mathrm{s}$
${\dot{\theta }}_k$	knee joint angular velocity, $\mathrm{rad}/\mathrm{s}$
${\dot{\theta }}_a$	ankle joint angular velocity, $\mathrm{rad}/\mathrm{s}$
${\ddot{\theta }}_h$	hip joint angular acceleration, $\mathrm{rad}/{\mathrm{s}}^2$
${\ddot{\theta }}_k$	knee joint angular acceleration, $\mathrm{rad}/{\mathrm{s}}^2$
${\ddot{\theta }}_a$	ankle joint angular acceleration, $\mathrm{rad}/{\mathrm{s}}^2$
${\mathbf{M}}_h$, ${\mathbf{M}}_k$, ${\mathbf{M}}_a$	cosine matrices, $\mathrm{Nm}$
${\mathbf{A}}_N$	matrix of drive mass, $\mathrm{kg}$
${\mathbf{A}}_B$	matrix of mass of human body parts, $\mathrm{kg}$
$\mathbf{I}$	matrix of moments of inertia, ${\mathrm{kgm}}^2$