You can authenticate with Duo using two types of tokens: Hardware tokens (first and second images below) and security keys (also called 'U2F tokens', third image below).
This page describes the authentication process when using a hardware token. For more information about U2F tokens, click here.
Getting a hardware token
To request a token, visit a walk-in location. You can call 1-HELP (612-301-4537) to also request a hardware token and verify your identity via video. You will need to have a government-issued photo ID with you so that your identity can be verified.