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. 2021 Mar 24;2:e1. doi: 10.1017/wtc.2021.1

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© The Author(s) 2021

This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Figure 3. — Static model of the exosuit-human system. The exosuit is comprised of a leg interface, a trunk interface, an elastic band (green curve) and an extension mechanism. The leg interface and trunk interface attach to the leg and trunk respectively, and are coupled by an elastic band. The exosuit creates an assistive torque by applying forces at the trunk ( ) and waist ( ) and legs ( ,). is the location of the L5-S1 joint and coordinate system origin. is the point at which the elastic band attaches to the trunk interface (and applies ). is the routing point for the elastic band on the extension mechanism (and where is applied). Note that when sits flush with the trunk/waist, there is no extension mechanism and the device behaves like the previous form-fitting exosuit detailed in Lamers et al. (2018). is the point at which the elastic band first makes contact with the posterior waist (simplified as a tangency point with a circle of radius ). is the hip center of rotation, is the top most point on the shoulder, and is the anchoring point on the leg.

Inline graphic — Static model of the exosuit-human system. The exosuit is comprised of a leg interface, a trunk interface, an elastic band (green curve) and an extension mechanism. The leg interface and trunk interface attach to the leg and trunk respectively, and are coupled by an elastic band. The exosuit creates an assistive torque by applying forces at the trunk ( ) and waist ( ) and legs ( ,). is the location of the L5-S1 joint and coordinate system origin. is the point at which the elastic band attaches to the trunk interface (and applies ). is the routing point for the elastic band on the extension mechanism (and where is applied). Note that when sits flush with the trunk/waist, there is no extension mechanism and the device behaves like the previous form-fitting exosuit detailed in Lamers et al. (2018). is the point at which the elastic band first makes contact with the posterior waist (simplified as a tangency point with a circle of radius ). is the hip center of rotation, is the top most point on the shoulder, and is the anchoring point on the leg.