Fig. 6From: Compliant lower limb exoskeletons: a comprehensive review on mechanical design principlesClassification of 52 lower limb exoskeletons11. a The robots are classified into function (rehabilitation/assistance), number of active and passive DoF, targeted pathologies, actuation system (SEA/VSA, pneumatic actuator) and configuration (unilateral/bilateral). b A breakdown of the individual system’s information is shownBack to article page