Research Article
SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks
Figure 7
The users’ upper limbs, arms, and hands are simplified. With reference to Figure 2, point O is selected as the origin to establish an xo-yo Cartesian coordinate system; m1 is the mass of the upper limbs and exoskeleton; l1 is the length of the exoskeleton; m2 is the mass of the arm; l2 is the length of the arm; m3 is the mass of the box.