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Rehabilitation and assistance enabled by fluid-powered actuation

[Describe here all the experimental procedures and/or methods adopted to collect your data.  The description should be complete enough to enable someone else to repeat your work.]Fluid power actuation systems, which use fluids under pressure to generate, control, and transmit power, are classified into two categories: pneumatic fluid power and hydraulic fluid power. Pneumatic systems use gas as a medium for power transmission, while hydraulic systems normally use a liquid, such as mineral oil or water. Such systems are able to produce high power (in the order of kW) and high forces in small volumes, compared with electrically driven systems. For example, high fluid power of about 40 kW can be generated using a typical hydraulic gear pump operating at a pressure of 250 bar and a flow rate of 100 L/min, with a pump efficiency of 95%. The rehabilitation and assistive devices enabled by pneumatic and hydraulic fluid-powered are overviewed in this section. Table 1 summarizes the details of the devices, including actuation mechanism, functionalities, key parameters, control strategies, advantages, and challenges.