Haque et al.26 presented a novel exoskeleton-based por-table gait data collection system that streamlines the place-ment of the sensors and allows them to be fastenedsecurely and stably with consistent alignment thus provid-ing high-accuracy gait measurement with significant usercomfort for prolonged usage

In contrast, translationwas controlled by 3 degree-of-freedom (DOF) planar par-allel mechanism. Villa-Villasen ̃or et al.2

Malcolm et al.14 developed a bi-articular knee–ankle–foot exoskeleton for healthy individuals for performanceenhancement during walkin

In another work, KE actuated by a rotary series elasticactuator for gait rehabilitation was developed by Konget al.5

For gait rehabilitation, Beyl et al.4 proposed a kneeexoskeleton (KE) actuated by pneumatic artificial muscles.