Saskia Baltrusch

120 Chapter 5 Figure 2: Human angle definitions (A) hip angle (a), lumbar angle (b), and trunk angle (c). Fitting requirements (B) . The relative distance between the waist and the skin surface at hip level differs significantly between man and women and within these groups. Here, the skeleton structure (adopted from Netter (2011) [41]) is scaled to matches the 50 percentile male (blue asterisk middle). The other two blue data points indicate the 5 percentile and 95 percentile male according to Tilley (2002) [30]. The red asterisks indicate the same data points for women. Additional design constraints are accommodated by translating these data points; Two structures, that are misaligned (C) : The robot limb and the human limb are horizontally misaligned by a distance x and vertically by a distance y. A torque TAct is applied by the robot limb, displacing it by an angle α. A resulting torque TRes displaces the human limb. The initial misalignment x and y result in a displacement L and a rotation γ of the cuff on human limb. Figure from Schiele and van der Helm (2006) [18]; Added degrees of freedom (D) : no more relative motion occurs, because the misalignment is compensated by the slider ∆s and hinge γ. Figure from Schiele and van der Helm (2006) [18]; (E) : Exoskeleton together with human skeleton. See Supplementary Materials for detailed model; Workspace comparison (F) : the workspace of the human hip is compared to the exoskeleton workspace in the frontal plane.