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Table 2 Overview of lower limb exoskeletons

From: A Review on Lower Limb Rehabilitation Exoskeleton Robots

Human Treadmill-based exoskeletons Overground exoskeletons
Part/joint Degree of freedom Lokomat LOPES ALEX III eLEGS Indergo Rewalk Rex Mindwalker HAL
Pelvis Superior/inferior Passive Passive Passive
Lateral Passive Actuated Passive
Anterior/posterior Passive Passive
Obliquity
Tilt
Vertical rotation Passive Passive
Hip Flexion/extension Actuated Actuated Actuated Actuated Actuated Actuated Actuated Actuated Actuated
Adduction/abduction Actuated Actuated Passive Passive Passive Passive Passive
Internal/external rotation Passive
Knee Flexion/extension Actuated Actuated Actuated Actuated Actuated Actuated Actuated Actuated Actuated
Ankle Dorsiflexion/plantarflexion Passive Actuated Passive Passive Passive Actuated Passive Passive
Adduction/abduction Passive
Internal/external rotation
Actuation Electric Cable-driven SEA Electric Electric Electric Electric SEA Electric Electric