Research Article
A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification
Table 1
Actuator types and parameters of joints.
| Joints | Actuator type | DoFs | Range of DoF |
| Hip F/E | Motor-actuated | 2 | −20–110° | Hip A/A | Spring-actuated | 2 | — | Knee F/E | Motor-actuated | 2 | 0–110° | Ankle F/E | Spring-actuated | 2 | — | Ankle A/A | Spring-actuated | 2 | — |
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