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Fig. 2 | Journal of NeuroEngineering and Rehabilitation

Fig. 2

From: Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements

Fig. 2

Floating base model of the exoskeleton. The floating base representation of an exoskeleton is characterized by a virtual, unactuated chain. This chain consists of six dofs: three translations and three rotations in 3D. When using a 2D model this reduces to two translations and one rotation, shown by the filled dofs. These actuators lie in one plane, the sagittal plane, shown in blue

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