Fig. 7

Different contact situation of the sit-to-stand motion. In the sit-to-stand motion, seat-off is the key event for modelling. In the sit state, the exoskeleton is supported by the stool and only the inertial, centrifugal and Coriolis terms are compensated for (only the trunk can move). In the stand state, the exoskeleton is no longer supported by the stool and needs to support its own gravity