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The exoskeleton KIT-EXO-1 was developed with the aim to augment human capabilities or to use it in rehabilitation applications. It has two active DOF at the knee and ankle joint to support flexion/extension movement. The linear actuators consist of brushless DC-motors, coupled to planetary roller screws and an optional serial spring. They are equipped with absolute and relative position encoders as well as a force sensor and can be controlled via the ArmarX software framework (https://armarx.humanoids.kit.edu). Eight additional force sensors, which are distributed on the exoskeleton measure interaction forces between user and exoskeleton at thigh, shank and foot and can be used for research on intuitive exoskeleton control or to assess the kinematic compatibility of new joint mechanisms.