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A hip-knee-ankle-foot orthotic system called ‘HALO’(Hip and Ankle Linked Orthosis) for paraplegic walking has been developed in our previous study. Each ankle joint of the HALO system is linked with a medial single joint via a wire which allows both feet of the orthosis to stay always parallel to the floor during walking and assists swinging the leg. The tests of the HALO system demonstrated that...