Here is a powered lower extremity exoskeleton that helps disable people move. The Mina Exoskeleton could also prove useful to injured people during the rehab process. The robot has torque controllable actuators at the hip flexion/extension and knee flexion/extension with passive joints.
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IHMC Robotics Testing Stairs for Cybathlon
IHMC Robotics Testing Walking for Cybathlon
Its powered joints support variable impedance. These videos show Mina v2 tested for Cybathlon.
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