Fig. 1

REFLEX prototype for the assistance of the knee joint of the paretic leg. This joint is actuated by a DC motor coupled to a Harmonic Drive while the ankle remains unactuated. The sensors of the prototype are a potentiometer to measure the exoskeleton flexion in the sagittal plane, strain gauges to measure the interaction torque, inertial sensors (IMUs) to acquire the lower-limbs kinematics, and insole pressure sensors to detect floor contact events