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Single-joint powered lower limb assisted exoskeletons. (a) Harvard University, SE [66]. (b) Harvard University, TSE [67]. (c) Achilles exoskeleton [71]. (d) MIT, AAE [72]. (e) MIT, AAE [74]. (f) University of Illinois KFO [69]. (g) University of Michigan, KAFO [70]. (h) Carnegie Mellon University, AE [73]. (i) National Institutes of Health, RETCG [4]. (j) Arizona State University, DCO [68].
