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1. An exoskeleton wearable on a body of a human having two legs, the exoskeleton comprising: a first HAA joint and a second HAA joint configured to assist the human with leg abduction and adduction movements at a hip of the body, wherein the leg abduction and adduction movements are parallel to a frontal plane, each of the first and the second HAA joints having an actuator, each actuator including a low-level controller, a motor, a torque sensor, and a clutch, the low level controller configured to calculate an interaction torque that represents a difference between a trajectory of a respective leg of the two legs and a trajectory of the respective first HAA joint or the second HAA joint using data sensed by the torque sensor, wherein the interaction torque is a torque that exists between the exoskeleton and the human; a sensor system for measuring a combined center of mass of the human and the exoskeleton in the frontal plane and a step width of the human in the frontal plane; and a high-level controller that outputs adjustment angles for each of the first and the second HAA joints based on the center of mass and the step width; wherein the first and the second HAA joints are respectively rotated based on the respective output adjustment angles, and wherein the clutch of each actuator is configured to be selectively disengaged from the respective motor during rotation of the respective first HAA joint or the second HAA joint based on the calculated interaction torque, to disconnect the actuator from the respective first HAA joint and second HAA joint and allow the hip to function on its own under the influence of gravity; wherein each low-level controller is configured to control a rotation of the first HAA joint or the second HAA joint using both the adjustment angles output by the high-level controller and the interaction torque measured by the respective torque sensor of the first HAA joint or the second HAA joint.
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