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This paper presents the design and development of a lower limb powered orthosis called Ortholeg. This device was designed to provide lower limb movements (such as walk) to spinal cord injured people unable to move their legs. Ortholeg weights 20kg and can be worn by users within a heights range between 1,55m to 1,70m, and weights up to 65 kg. This robotic device has two actuators for each leg, one...
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