Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation

Figure 6

Abduction of the right leg, while wearing the novel prototype. As soon as the leg swings outwards, the vertical slider is pushed upward, as seen by the increasing green arrow. Additionally, the horizontal slider starts to move as well: it is pushed towards its center, visualised by the decreasing white arrow.