A self aligning self drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two stage attachment system increases the range of sizes a wearable robotic device will fit. A removable integrated ankle foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable integrated ankle foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually removable hip wing attachment system makes field changes easier and protecting such a system from inadvertent disengagement during operation increases safety.
