SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks

Figure 2

(a) Kinematics modelling of lifting. The green circles represent joints, all the red represent the centre of gravity of the limb, the five red triangles represent the L₁-L₅ lumbar vertebrae of the users from left to right, D_i represents the centre of mass of the limb, m_i represents the mass of limb, l_i represents the length of the limb, and indicates an angle between limbs; (b) simplified mechanical model of lifting. Since the model (a) is too complicated, we simplify it to analyse its dynamic properties.

(a)

(b)