Figure 2From: Exoskeletons and orthoses: classification, design challenges and future directionsExoskeletons that act in parallel with the human lower limb for load transfer to the ground. Examples are Yagn's running aid [14], MIT's hopping exoskeleton [15, 16], and Kazerooni's load-carrying exoskeleton [18, 19] shown in 2a, 2b, and 2c, respectively.Back to article page