Roboticists have developed a diverse array of powered exoskeletons for human augmentation and rehabilitation over the last few decades. One of the key design objectives is to minimize the discomfort to enhance the user experience. The high inertia and joint misalignment of conventional rigid exoskeletons are two key factors that cause these problems. Different types of control algorithms have been developed to compensate the inertia and render low impedance to the wearers [1–2].

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