Fig. 1

a Human skeleton covered by soft tissues. b Human body with wearable robotic chain schematic: (1) passive translational DoF, (2) abduction/adduction rotation passive DoF, (3) internal/external rotation passive DoF, (4) rotation passive DoF, (a) pelvis cuff, (d) internal/external rotation joint, (e) abduction/adduction joint, (f) flexion/extension joint. c Human body coupled with exoskeleton: b carbon-fiber plate, c sliding carbon-fiber plate, g lateral extensible arm, h thigh linkage, i thigh cuff. For the sake of clarity, only the right part of the bilateral APO is represented