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. Author manuscript; available in PMC: 2012 May 3.
Published in final edited form as: IEEE Trans Robot. 2009 Jun;25(3):539–548. doi: 10.1109/TRO.2009.2019788

Fig. 5.

Fig. 5

Experimental setup where a subject wears a harness to be protected from falls. Cables leading to device are for Bowden actuation and sensors, whose weight is partially supported at the bar.