Unlike able-bodied humans, people with paraplegia are unable to voluntarily move their legs or waist, so they cannot control their center of gravity (CoG). Powered exoskeletons have been regarded as one of the most significant lower-limb rehabilitation devices in recent years, and existing powered exoskeletons have already been used to assist people with paraplegia to walk similarly to a normal human gait. However, it may not necessarily be the best option for people with paraplegia to walk like able-bodied people because powered exoskeletons are much more limited in their degrees of freedom (DoF) than an able-bodied human body and cannot help people with paraplegia voluntarily control their CoG.
