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The purpose of this review paper was to investigate some of the existing studies in the open literature that have novel innovations in the field of orthotics. There are some methods to regain the functions of injured or damaged limbs. It is worth mentioning that orthoses are of paramount importance among these methods. Orthoses are used as an external device to improve the structure and function of an organ in the body. In addition, orthoses prevent pain and deformity development in the limb. There are different types and applications of orthoses and their usage areas are quite wide. Moreover, orthoses are fabricated from different materials such as metal, leather, plastic or a combination of different materials, prefabricated or individually, according to the desired organ by the technical orthopedic specialist. This paper comprehensively reviews the studies that brought innovations to the orthotics literature. Consequently, this review paper provides researchers a useful reference on orthosis parameters such as modelling, material, geometry, and size optimization for key biomechanics applications.