Figure 1.

(a) The passive lift-support exoskeleton used in this study is the Auxivo LiftSuit v2.0. (b) During static forward leaning the load of the body, the external load, the muscles, and the exoskeleton create opposing moments around the center of rotation of the hip (in green). The moments generated by the weight of the upper body and the external load (in red) are counteracted by the muscles that create torque around the hip and the exoskeleton (in black). Dotted lines represent moment arms. (c) In this study, we measured the erector spinae at lumbar and thoracic level, the quadratus lumborum, and the gluteus maximus.