Fig. 2

Charactesristics of the studied exoskeletons with compliant actuationFootnote

References [114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159] include publications related to the 52 lower limb exoskeletons reviewed in this article that are not mentioned within the main body of the manuscript but appear in the figures.

. a The exoskeletons are classified according to their compliant actuator. Exoskeletons with SEAs and VSAs are classified according to the elastic component type. Exoskeletons with pneumatic actuation are classified according to the pneumatic artificial muscle type. b The graph represents the relation between exoskeletons weights and maximum delivered torques. The elastic component and the pneumatic artificial muscle types are also shown