# Systematic Review of Exoskeletons towards a General Categorization Model Proposal
## 4 Analysis and Discussion
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**Author** & \begin{tabular}{c} **Body Part** \\ **Focused** \\ \end{tabular} & **Structure** & **Action** & \begin{tabular}{c} **Powered** \\ **Technology** \\ \end{tabular} & **Purpose** & \begin{tabular}{c} **Application** \\ **Area** \\ \end{tabular} \\ \hline ([PERSON], 2017) [70] & Lower body & Rigid & Active & Electric Actuator & Performance & Civilian \\ \hline ([PERSON] et al., 2018) [71] & Lower body & Rigid & Active & \begin{tabular}{c} Electric Actuator \\ (Plneumatic/Electrical) \\ \end{tabular} & Performance & Clinical/Research \\ \hline VariLeg ([PERSON] et al., 2018) [72] & Lower body & Rigid & Active & Hybrid(Electrical/Mechanical) & Recovery & Research \\ \hline ([PERSON] et al., 2018) [73] & Upper body & Rigid & Passive & Mechanical & Performance & Not classified \\ \hline ([PERSON] et al., 2018) [74] & Lower body & Rigid & Active & Electric Actuator & Performance & Civilian/Research \\ \hline ([PERSON] et al., 2018) [75] & Upper body & Rigid & Passive & Mechanical & Performance & Not classified \\ \hline XoSoft ([PERSON] et al., 2018) [76] & Lower body & Soft & Active & \begin{tabular}{c} Hybrid \\ (Electrical/Mechanical) \\ \end{tabular} & Both & Research \\ \hline ATALANTE ([PERSON] et al., 2018) [77] & Lower body & Rigid & Active & \begin{tabular}{c} Electric Actuator \\ (Electrical/Mechanical) \\ \end{tabular} & Recovery & Clinical \\ \hline ([PERSON] et al., 2018) [78] & Lower body & Soft & Active & \begin{tabular}{c} Hybrid \\ (Electrical/Mechanical) \\ \end{tabular} & Performance & Research \\ \hline ([PERSON], 2019) [79] & Lower body & Rigid & Passive & Mechanical & Performance & Military \\ \hline ([PERSON] et al., 2019) [80] & Lower body & Rigid & Active & Electric Actuator & Performance & Research/Civilian \\ \hline ([PERSON], 2019) [81] & Full body & Rigid & Active & Pneumatic Actuator & Performance & Not classified \\ \hline ([PERSON], 2019) [82] & Upper body & Rigid & Active & Mechanical & Performance & Industrial \\ \hline ([PERSON] et al., 2019) [83] & Lower body & Soft & Active & \
\begin{tabular}{c} Hybrid \\ (Electrical/Mechanical) \\ \end{tabular} & Performance & Civilian \\ \hline ([PERSON] et al., 2019) [84] & Other & Rigid & Active & Hybrid & Performance & Industrial \\ \hline ([PERSON], 2019) [85] & Arm & Rigid & Passive & Mechanical & Performance & Industrial \\ \hline ReWalk & Lower body & Rigid & Active & Electric Actuator & Both & Civilian/Clinical \\ Exoskeleton 6.0 [86; 87] & Lower body & Rigid & Active & Electric Actuator & Recovery & Clinical \\ \hline Dephy Boot ([PERSON], 2019) & Lower Leg & Rigid & Active & Electric Actuator & Performance & Military/Civilian/Research \\ \hline INDEGO ([PERSON] et al., 2017) [89; 90; 91] & Lower body & Rigid & Active & Electric Actuator & Both & Civilian/Clinical \\ \hline AIRFRAME ([PERSON], 2017) [92; 93] & Shoulders & Rigid & Passive & Mechanical & Performance & Industrial \\ \hline FORTIS K-SRD [94] & Lower body & Rigid & Active & Electric Actuator & Performance & Military/Industrial \\ \hline Esko Vest [95; 96] & Upper body & Rigid & Passive & Mechanical & Performance & Industrial \\ \hline Esko NR [97] & Lower body & Rigid & Active & Electric Actuator & Recovery & Clinical \\ \hline Levitation 2 & Knee & Rigid & Passive & Mechanical & Performance & Civilian \\ Knee Brace [98; 99] & Knee & Rigid & Passive & Mechanical & Performance & Civilian \\ \hline ReStore Exo-Suit [100] & Ankle & Soft & Active &
\begin{tabular}{c} Hybrid \\ (Electrical/Mechanical) \\ \end{tabular} & Recovery & Clinical \\ \hline Guardian XO [101; 102] & Full body & Rigid & Active & Hybrid(Electrical/Mechanical) & Performance & Industrial/Military \\ \hline \hline \end{tabular}
\end{table} 
Table 2: _Cont._point for the readers to inform themselves on which devices focus on the upper limbs and their recovery [104]. [PERSON] reviewed actuation systems for upper limb exoskeletons [106], and [PERSON] presented the developments in hardware for the active upper limb exoskeletons [107].