## 5 Discussion
\begin{table}
\begin{tabular}{c c c c} \hline
**Name/Ref.** & **Configuration** & **Target** & **Main Contribution** \\ \hline This work & Standing/sitting mobility & Reduced mobility and elderly assistance & Sagittal/coronal stability, standing/sitting mechanism, solved for sloping surfaces, simplicity in the mechanical design, easy manufacturing. \\ \hline
[15] & Active hip and knee joints. Passive in the ankle & Reduced mobility and elderly assistance & 15 kg weight, FRF when changing CG when stationary/walking without manual control. \\ \hline
[16] & Knee-ankle-foot active orthosis & Reduced mobility and elderly assistance. & 3 kg weight, automatic ascent/descent handlebars for sitting/standing. \\ \hline HAL-5 [17] & Segmented exoskeleton with hip, knee, and ankle joints. & Adults with total or partial paraplegia. & 15 kg including batteries. No manual control is required for activation. \\ \hline LEE [9] & External and internal EXO. Articulated segments at the hip, knee, and ankle. & Healthy adults. & Not solved for inclines and steps applying load. \\ \hline RGO [18] & 10 DOF, 3 in hip, 1 knee, and 1 ankle, flexible pneumatic muscles in antagonistic pairs. & Adults with partial paraplegia & 17 kg weight. Demonstrated that PMA can be applied to an EXO. \\ \hline LOPEZ [7] & External structure for pelvis support. Hip, knee, and ankle joints & Adults with partial paraplegia, rehabilitation & It can be safely applied for gait training. \\ \hline ALEX [19] & Extension springs in the hip, interconnected segments. & Healthy adults & Increase load capacity by transferring 90\% of the weight to the leg structure. \\ \hline EHPA [20] & Full body wraparound exoskeleton & Healthy adults. & Increase capacity for material handling in Uncontrolled environment. \\ \hline HAL [21] & HAL-in sit-stop-sit study. Hip, knee, and ankle joints. & Adults with partial to total paraplegia. & Based on sit/stop intention estimation, observed and sensed the preliminary trunk movement \\ \hline WPAL [21] & Segments applied on the inner side of the legs compatible with wheelchair. & Adults with partial paraplegia. & Decreased metabolic cost due to the use of forearm crutches. \\ \hline Rex [22] & EXO Rex self-stability for legs and trunk. & Adult with total paraplegia. & Brain Machine Interface applied to to Rex EXO that interprets user intent \\ \hline
[23] & Hip, knee, and ankle joints with Interconnected segments. & Adults healthy, partial, and total paraplegia. & Effect of assisted walking on activation sequence and muscle activity level \\ \hline
[24] & Active hip, knee, and ankle articulation. Structure adaptable to different heights. & Adults with partial paraplegia. & Stand-sit-stop assistance for applying commercial seat, Maintain neuromotor functionality. \\ \hline
[25] & Structure adaptable to different heights. Passive, parallel to the calf muscles, and ankle tendons. & Healthy adults & Maintain neuromotor functionality. \\ \hline
[26] & Lightweight passive device & Healthy adults. & Low inertia in movements, therefore low metabolic cost of user \\ \hline
[27] & Chairless chair passive device for work assistance. & Healthy adults & Stores and dissipates energy when moving from standing/sitting for greater work efficiency. Does not interfere with walking. \\ \hline
[28] & Active hip and knee joints. Passive in the ankle & Adults with partial paraplegia & Efficiency in stability in sit/stand transition without stabilization of forearm crutches \\ \hline \end{tabular}
\end{table} 
Table 6: Literature comparison with exoskeletons in the state-of-the-art. Limitations of this study. At this time, the main components have been tested separately, and the tests have been limited to stress analysis and spatial stability; however, users have not tested the system, nor has the scalability in the manufacturing processes been verified. The feasibility of manufacturing the proposed system must be verified according to the industrial design. The duration and wear of the parts susceptible to wear must be checked.