Table 3 Details of powered exoskeletons in this review

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 [31–34, 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