Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance

<div>Two-dimensional modeling of a human leg wearing the soft exoskeleton in which the assistive forces were applied at the knee joint by pulling the straddle cable. AF: assistive forces.</div>

Applied Bionics and Biomechanics

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Figure 5

Figure 5: Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance 