Fig. 3From: Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movementsSchematic model of an SEA. An SEA consists of a motor, a transmission, a spring and the outgoing link, as shown by the top schematic. All variables are referenced against the previous link as shown by the dashed line in the lower figure. \(\theta _{i}^{*}\) is the motor angle before transmission. αi=θi−ϕi is the spring deflection angleBack to article page