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. 2020 Apr 22;14:17. doi: 10.3389/fnbot.2020.00017

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Copyright © 2020 Mu, Zhang, Yang, Xie and Fang.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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The models of the mechanisms for the right upper and lower limbs. (A) Upper limb model: (1) shoulder motor (EC 90), (2) angle sensor, (3) gearbox (ratio of 100:1), and (4) shoulder adjusting bars. (B) Lower limb model: (1) hip assisting bar, (2), (5) and (10) angle sensor, (3) hip motor (RE 50), (4) and (11) force sensor, (6) knee motor (RE 40) with a gearbox (ratio of 3.5:1), (7) knee assisting bar, (8) ankle assisting bar, (9) ankle motor (RE 40), and (12) shoe platform.