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Toyota is a superuser of occupational exoskeletons but also a developer of a fixed-frame gait rehabilitation device as well. The company has experience with humanoid robotics and it has performed both internal exoskeleton development for medical exoskeletons and evaluation of industrial wearables.
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Wonderful and extremely thorough and honest article on the decade long development process of the WW-2000 published by Toyota in Nov 2021: https://toyotatimes.jp/en/insidetoyota/180.html