Fig. 1From: The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical studyH2 robotic exoskeleton. The six joints are powered by brushless DC motors coupled to Harmonic Drive gearboxes. All sensory information comes from sensors placed on the exoskeleton: 6 potentiometers, 18 Hall Effect sensors, 24 strain gauges and 4 foot switches. A rechargeable battery pack of lithium polymer powers the exoskeletonBack to article page