Design on the Bowden Cable-Driven Upper Limb Soft Exoskeleton

<div>Man-machine interaction force at different force bearing points. (a) The flexion movement of elbow under the driving force of 30 N. (b) The flexion movement of elbow under the driving force of 40 N.</div>

Applied Bionics and Biomechanics

fig7

Figure 7

Figure 7: Design on the Bowden Cable-Driven Upper Limb Soft Exoskeleton 