In this paper, the design of a lower limb active exoskeleton for rehabilitation purposes is discussed. Active exoskeletons provide the additional required force for motion and gait correction, especially for patients who have suffered from limb impairment. The development was carried out taking into account sensor input for the control system. A Finite-State Machine (FSM) enables the different motions which rely on the data from the torque and acceleration sensors. To replicate the anatomical knee rotation, a four-bar linkage was modelled and integrated in the actuator drive. For this project, a prototype was created using Additive Manufacturing Processes (AMP). The prototype is part of the ‘ForCEs' project at Deggendorf Institute of Technology (DIT) and was tested at an experimental stage for an initial set of results.

We introduce SPHINCS+, a stateless hash-based signature framework. SPHINCS+ has significant advantages over the state of the art in terms of speed, signature size, and security, and is among the nine remaining signature schemes in the second round of the NIST PQC standardization project. One of our main contributions in this context is a new few-time signature scheme that we call FORS. Our second main contribution is the introduction of tweakable hash functions and a demonstration how they allow for a unified security analysis of hash-based signature schemes. We give a security reduction for SPHINCS+ using this abstraction and derive secure parameters in accordance with the resulting bound. Finally, we present speed results for our optimized implementation of SPHINCS+ and compare to SPHINCS-256, Gravity-SPHINCS, and Picnic.