Fig. 2: Exoskeleton testbeds.
From: Interaction-based rapid heuristic optimization of exoskeleton assistance during walking
a The in-laboratory testbed composed of a powered exoskeleton, a high-speed controller, multiple sensors for human measures. b Photo of the unilateral ankle exoskeleton worn on the right foot used in main, generality and convergence studies. c Photo of the bilateral ankle exoskeleton worn on both feet in generality tests. d Photo of the unilateral knee exoskeleton worn on the right leg in generality tests. e Photo of the mobile unilateral ankle exoskeleton worn on the right foot for outdoor generality tests.
