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Table 3 Details of powered exoskeletons in this review

From: Powered robotic exoskeletons in post-stroke rehabilitation of gait: a scoping review

Exoskeleton Joints actuated Stepping initiation Stepping assistance
H2 [39] Hip, knee, ankle Initiated by hand buttons on walker
Pre-set speed
Assist-as-needed for swing
SMA [35] Hip Initiated by movement
Internal sensors detect hip joint angle to regulate walking
Assist-as-needed for swing
HAL [3134, 37, 38] Hip, knee Initiated by movement (2 modes)
Internal sensors detect lateral weight shift
Surface electrodes detect muscle activation via bioelectric signals
Full-assistance for swing
Assist-as-needed for swing
AlterG [36, 40, 41] Knee Initiated by movement
Internal sensors detect movement intention via variable force threshold
Assist-as-needed for stance, free swing
  1. AlterG AlterG Bionic Leg, formerly Tibion Bionic Leg; H2 H2 exoskeleton; HAL Hybrid Assistive Limb; SMA Stride Management Assist system (Honda R&D Corporation, Japan)