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The VariLeg 2 is a powered exoskeleton prototype for the knee to improve the lives of paraplegics by allowing them to walk with greater freedom than with current assisted walking devices. With the VariLeg 2 there is no restricted joint mechanisms that would make it difficult to walk in other a straight line. It mimics the natural behavior of knee movement during gait more accurately because of built in variable impedance actuators that continuously change the knee stiffness so it can adapt to irregular surfaces or obstacles. The VariLeg 2 is less bulky than the original VariLeg, and will include several buttons so the user can decide where they are going, and can change the modes (straight-walking mode, stairs mode and sit-down mode).