For the final implementation of the exoskeleton-body interface, the cuffs from the first implementation were reused since they worked well. The foam padding, however, was replaced with a thicker foam padding to provide more comfort. To connect the user's wrist to the hand linkage, a velcro strap was fixed on the hand linkage to restrict the user's hand movement to the exoskeleton (See Figure 1). Since the strap is flexible, the user is still able to grasp a basketball and move along with the exoskeleton.
Figure 1. Side view of exoskeleton and exoskeleton-body interface.
A backboard was utilized in this final prototype to provide a fixed ground that would allow the mounting of a motor, controller and batteries (See Figure 2).
