purposes,
such as providing extra locomotion energy for healthy
young and elderly people, improving load carrying ability of soldiers
or heavy labor workers, and aiding paraplegic or lowerlimb
impaired patients to regain independent mobility. According
to the covered joints, multi-joint exoskeletons, here, are distinguished
among trunk–hip–knee–ankle–foot (THKAF), hip–knee–
ankle–foot (HKAF), trunk–hip–knee (THK), hip–knee (HK) or
knee–ankle–foot (KAF) orthoses and exoskeletons, as shown in
Fig. 1. Some multi-joint exoskeletons presented in this section
could be found in Figs. 2 and 3