With the population aging, stroke is becoming one of the leading causes of adult disability, such as gait impairment. Robots have been developed to overcome the limitations of manual therapy for rehabilitation, but most of them are bulky, expensive, and available only to big hospitals [1]. A significant portion of patients still have residual gait impairments, such as knee hyperextension and drop foot, after discharge from hospitals. Therefore, there is a great need for a home-based wearable robotic system for gait rehabilitation. Numerous robots have been developed specifically for the ankle joint to tackle the drop foot problem, such as the MIT ankle robot [2] or to aid the knee joint such as Tibion [3]. However, research aiming at providing active assistive torque to both the knee and ankle was very limited. The knee-ankle-foot orthosis (KAFO) presented in Ref....

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