Table 3.

Powered lower limb single-joint assisted exoskeletons.

Study	Year	Joint	App.	Weight & Load	Driver	Element	Subject	Speed
USA [66]	2016	$\mathrm{H}\prime$	MA	W (23); L (23)	Hip suit and driving platform	——	8	1.5 m/s walking
USA [67]	2017	$\mathrm{H}\prime$	MA	W (5)	Wearable system (drive and control)	——	$8 \mathrm{M}\prime$	2.5 m/s running
USA [68]	2007	$\mathrm{A}\prime$	MA	W (0.95)	Motor, lead screw, and spring	$\mathrm{P}\prime$ (3.125) $\mathrm{P}$ (0.131)	$2 \mathrm{HS} (1 \mathrm{M}\prime , 1 \mathrm{F}\prime$)	——
Belgium [35]	2013	$\mathrm{A}\prime$	MA	W (1.34)	Pneumatic drive	——	——	——
[71]	2014	$\mathrm{A}\prime$	MA	W (6.7)	Pneumatic muscle	P (0.0802)	——	——
USA [72]	2014	$\mathrm{A}\prime$	MA	W (23); L (23)	Motor, gear, wire, and linkages	$\mathrm{P}\prime$(2.3)	7	1.5 m/s level walking
USA [73]	2015	$\mathrm{A}\prime$	MA	W (<0.88)	Motors, controllers, and Bowden cables	${\mathrm{MT}}_d$(121)	1 HS	——
USA [74]	2016	$\mathrm{A}\prime$	MA	W (3.6)	Winch, motor, and an aluminum outer	P (0.2)	$6 \mathrm{M}\prime$	1.4 m/s level walking

App.: Application. $\mathrm{H}\prime$: Hip;$\mathrm{K}\prime$: Knee; $\mathrm{A}\prime$: Ankle; $\mathrm{F}\prime$: Foot; W: Weight (kg); L: Load (kg); $\mathrm{S}\prime$: Solider; $\mathrm{M}\prime$: Male; $\mathrm{F}\prime$: Female; HS: Heath subjects; SP: stroke patient; PSCI: patient with spinal cord injury; SM: simulation model; MA: Movement assistance; MR: Medical rehabilitation; ME: Motivation enhancement; EWB: Enhanced weight bearing; O: Orthosis; SC: Stiffness coefficient(N/mm); TS: Torsional stiffness (Nm/rad); P: Power (kW); ${\mathrm{MT}}_m$: Maximum torque of motor (Nm); ${\mathrm{MT}}_d$: Maximum torque of device (Nm); $\mathrm{P}\prime$: Normalized peak power (W/kg); P: Power (kW).