Pneumatic fluid-powered rehabilitation and assistive devices for lower body rehabilitation and assistance (a) untethered ankle-foot orthosis (PPAFO) driven by a pneumatic rotary actuator [27] (b) soft robotic ankle-foot orthosis SR-AFO exosuit driven by pneumatic soft fabric actuators [29] (c) soft lower-extremity robotic exosuit for augmenting normal muscle function [30] (d) soft ankle-foot exosock for deep vein thrombosis [32] (e) soft pneumatic exoskeleton for after total knee arthroplasty (TKA) [33] (f) lightweight exoskeleton using a fabric pneumatic actuator as the bending joint [34].