In contrast, exoskeletal workstatio

In contrast, exoskeletal workstations devices provide direct control of each segment of the limb, with separate motors controlling each plane of motion. Examples of exoskeletal workstations include the ArmeoPower(Hocoma,Switzerland),andtheLokomat (Hocoma). This design enables precise control of the limb and restriction of unwanted movement patterns. This degree of control comes at a certain cost,however.Exoskeletal workstations are typically large and bulky devices designed to achieve control of multiple limb segments.The resulting mass and inertia of the device can only be partially offset by the device itself, impacting the fluidity of motion. While advances have been made in this area, these devices have not yet achieveda level of speed and fluidity that accurately mimics natural motion.