An exoskeleton is an electromechanical device which can be worn by users for power augmentation or rehabilitation and can walk in concert with the operator's locomotion [1]. it have extensive applications in civil and military tleld, including rehabilitation training for the patients, helping the elderly or the disabled one to walk without feeling any weakness, assisting the operator to lift more payloads (e.g. ammunition) in military field. Due to a broad prospect in application, it has attracted a lot of researchers' attention in the community of robotics around the world.
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