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In order to provide a ground for the mechanism, a wooden shaft with an extended block was placed on the shoulder end of the exoskeleton. Straps were then threaded through the block to wrap around the user's body and ground the mechanism. Unfortunately, we found that this method did not work well because there was movement on the upper section of the shoulder. See Interface With Body (Final Implementation) for improvements.
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| Figure 1. Cuff and Fixed Hip interface on initial prototype. |
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