Fig. 1

Andago and custom-made pressure detection system. a Andago with its various components. b Photo, and c schematic drawing of handrail equipped with custom-made pressure force detection system. The middle band of each sensor was covered with a stripe (‘force guiding layer’) to increase the thickness of the sensor in the recording area. Sensors and stripes were covered with tape (to improve robustness), and a tube was inserted around the bar to decouple support and grasping forces. BWU bodyweight unloading