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Robotic wearable orthosis faces many challenges. A list, but not exhaustive, can include biomechanical coupling, wearability, intention detecting, functional coupling, energy autonomy, trajectory, and torque anticipation. Notably, from a rehabilitative perspective emerges the necessity to define the more proficient rule of interaction to induce learning processes or to support the function when the recovery limit is reached. This study aims to select the optimal solution among the available technologies. We developed an orthosis with a controller that follows the equilibrium-point hypothesis. Three experimental protocols test the transparency and the gait pattern implicit modification during the orthosis use.