The dynamic compliance means that t

The dynamic compliance means that the distal inertia of the exoskeleton should be as small as possible, so that the dynamic forces, including the inertial force, the centrifugal force, and the Coriolis force, of the exoskeleton during dynamic motion are as small as possible. From the perspective of the one-to-one layout for exoskeleton joints and anatomical joints, many exoskeletons arrange actuators and reducers near corresponding human joints [26,27], which simplifies the overall layout and designs, but leads to the large distal inertia. Besides, due to the gravity, the heavy part placed at the distal end will result in larger gravitational moments at proximal joints, which burdens the designs of gravity compensators. The way to improve the dynamic compliance is to arrange the components with large masses at the proximal end as much as possible. For example, the motor can be arranged at the proximal end through a four-bar mechanism [8,28], or through a Bowden wire transmission [3,29] which directly places the motor on the base.