An Open-Structure Treadmill Gait Trainer: From Research to Application

Figure 2

Analysis and design of exoskeleton: hip joint was the origin of the coordinate system, forward direction was the x-axis, and downward direction was the y-axis.

(a) Schematic of human lower limb mechanisms

(b) Schematic of exoskeletons with ball screws

(c) Dynamic model of an exoskeleton