## 1 Introduction
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Name** & **Organization** & & **Characteristics** \\ \hline ESKO GT & & & Battery-powered wearable bionic suit. \\ Robotic & ESKO Bionics & & Motors at hips and knees enable individuals with lower extremity motor impairment to stand and voluntarily step over the ground. \\ Exoskeleton [13] & & & Two modes: “max assist” initiates steps with 100\% assistance, while “variable assist” allows voluntary subject influence on the robot even with minimal effort. \\ \hline HANK [14] & \begin{tabular}{c} Gogoa Mobility Robots \\ SA, Spain \\ \end{tabular} & \begin{tabular}{c} \(\bullet\) \\ SA, Spain \\ \end{tabular} & \begin{tabular}{c} Full exoskeleton suit using an actuator and a backpack containing a battery, microprocessor, electrical connection, and force sensing \\ resistors for measuring foot-floor contact. \\ Patients use crutches if needed to increase stability and patient comfort. \\ The guidance force of the exoskeletal suit can be set as a percentage ranging from 100\% fully controlled to 0\% with free movement. \\ \hline Active Knee & \begin{tabular}{c} Northeastern \\ University, Boston, \\ MA (US); \\ Spaulding \\ Rehabilitation Hospital \\ Corporation, Boston, \\ MA (US) \\ \end{tabular} & \begin{tabular}{c} Continuously apply corrective torque around the knee to reinforce a desired gate pattern. \\ This gait rehabilitation exoskeleton includes a pelvic brace, an unactuated leg brace with a sensor for knee angle measurement, and an actuated leg brace with an impedance controller. The system computes a desired knee angle based on sensor data and applies torque via the actuated leg brace, contributing to adaptive and controlled support for improved lower extremity rehabilitation. \\ \end{tabular} \\ \hline Pneumatic Lower & \begin{tabular}{c} Luangwa University \\ of Science \\ and Technology \\ \end{tabular} & \begin{tabular}{c} Uses a network of pneumatic pistons to simulate a patient’s normal walking gait. \\ Exoskeletal extremities device is fixed onto a structural frame in the upright position. \\ \end{tabular} \\ \hline Lower Limb & & & LLRR enables targeted exercises for hip, knee, and ankle joints. \\ Rehabilitation & \begin{tabular}{c} Wuhan Institute \\ of Technology \\ \end{tabular} & \begin{tabular}{c} The device features a chair design with an adjustable backrest ensuring patient comfort during extended use. \\ The backrest angle adjustment mechanism uses hinges and a linear actuator with specific technical parameters (thrust, speed, and stroke) for precise customization. \\ \end{tabular} \\ \hline BLEX [18] & \
\begin{tabular}{c} University of \\ California, Berkeley \\ \end{tabular} &
\begin{tabular}{c} Berkeley Lower Extremity Exoskeleton (BLEEX) is the first energetically autonomous load-carrying human exoskeleton. \\ Demonstrated at U.C. Berkeley, it achieved a walking speed of 0.9 m/s while carrying a 34 kg payload. \\ \end{tabular} \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Examples of exoskeletal devices that do not require the use of harnessed systems. These systems have innovatively eliminated the conventional harnessed approach employed in traditional gait rehabilitation. Both the EKSO GT and HANK represent battery-operated suits with integrated bionic components and backpack systems, orchestrating precise control over a patient's gait. The ANdROS system comprises a pelvic brace, an unactuated leg brace, and actuated leg brace, focusing on gait corrections for a single leg. In contrast, the device developed by Luangwa University is affixed to a support structure, securing the patient in an upright position. However, the process of correctly positioning the patient within these devices poses challenges, particularly given the often-limited motor skills of individuals with disabilities. Addressing these difficulties is crucial for optimizing the effectiveness of these advanced gait rehabilitation systems.