Misalignment between an exoskeleton joint and a human joint: (a) the exoskeleton is horizontally misaligned by a distance x and vertically misaligned by a distance y. If a torque TAct is applied in absence of any compensation mechanism, the brace is displaced by a distance L and rotated by a small angle γ [35]. (b) If a misalignment compensation mechanism in the form of a revolute-revolute-prismatic (RRP) joint configuration is introduced, the brace does not move; instead, the displacement L is compensated with the prismatic joint and the small rotation γ is compensated by the additional revolute joint. Figures based on Ref. [35].