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Aalborg University, Department of Health Science and Technology need to purchase a self-balancing lower-limb exoskeleton (LLE) for research in rehabilitation in different environments for severely disabled individuals such as tetraplegia. For research purposes the department needs to be able to use the LLE in home like environments and in different laboratories because of that it is important that the LLE is self-balancing and can be used without harness for suspension and safety. Aalborg University have only found one product that can fulfill those needs