Skip to main content


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)