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. 2021 Jul 19;8:702845. doi: 10.3389/frobt.2021.702845

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Copyright © 2021 Luo, Androwis, Adamovich, Su, Nunez and Zhou.

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 lower extremity exoskeleton and integrated human-exoskeleton model. (A) The multibody dynamics model of the exoskeleton with joint frames (red/green/blue axes) rendered in place. (B) The physical prototype of the exoskeleton. (C) The foot model with force sensors locations and the two independent ankle DoFs indicated. The joint axes of the model are displayed as well. (D) Integrated human and lower extremity exoskeleton model. (E) Spring (yellow) connections between the human and the strap on the robot. (F) Side view.