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Fig. 7 | Journal of NeuroEngineering and Rehabilitation

Fig. 7

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

Fig. 7
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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

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