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	—