Here is a powered lower extremity exoskeleton that provides mobility assistance to disabled users, and injured users during the rehab process. The first version of Mina had “torque controllable actuators at the hip flexion/extension and knee flexion/extension and passive joints to allow for hip ab/adduction and hip internal/external rotation.”
Mina has an adjustable design to accommodate users of all sizes. Its powered joints support variable impedance. The above video shows Mina v2 tested for Cybathlon.