Figure 9.

Exoskeleton structure design. 1, upper arm bandage. 2, Bowden line connector of the elbow joint. 3, Bowden line wire rope of the elbow joint. 4, Bowden line anchor of the elbow joint. 5, forearm bandage. 6, Bowden line sheath of the knee joint. 7, Bowden line wire rope of the knee joint. 8, Bowden line anchor of the knee joint. 9, Bowden line sheath of the elbow joint. 10, motor system of the elbow joint. 11, hydraulic cylinder. 12, hydraulic pipe. 13, hydraulic energy system. 14, waist fixation block. 15, Bowden line wire rope of the hip joint. 16, Bowden line anchor of the hip joint. 17, exoskeleton frame. 18, spring for the knee joint. 19, pulley. 20, spring for the hip joint.