The US Defense Advanced Research Projects Agency (DARPA) initiated development of the exoskeletons in 2001 under the Exoskeletons for Human Performance Augmentation programme. The agency funded $50m to various participants under the five-year programme. However, only two of them have been active in developing the exoskeleton prototypes for the US military. The XOS system was originally developed as the Wearable Energetically Autonomous Robot (WEAR) by Sarcos Research of Salt Lake City, Utah. Development of the biomechanical robot was started in 2000. The company, established in 1983, was acquired by the defence contractor Raytheon in November 2007.
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