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Fig. 3 | Journal of NeuroEngineering and Rehabilitation

Fig. 3

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

Fig. 3
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Schematic 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 angle

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