1. Date of download: 11/16/2017
Copyright © ASME. All rights reserved.
From: On the Design of a Passive Orthosis to Gravity Balance Human Legs
J. Mech. Des. 2004;127(4): doi: /
Figure Legend:
An AutoCAD drawing of two leg orthosis. The subject uses a portable walking frame. The moving segments of the orthosis straps on to the moving segments of each leg.

2. Date of download: 11/16/2017
Copyright © ASME. All rights reserved.
From: On the Design of a Passive Orthosis to Gravity Balance Human Legs
J. Mech. Des. 2004;127(4): doi: /
Figure Legend:
A schematic of the two leg orthosis with coordinate frames

3. Date of download: 11/16/2017
Copyright © ASME. All rights reserved.
From: On the Design of a Passive Orthosis to Gravity Balance Human Legs
J. Mech. Des. 2004;127(4): doi: /
Figure Legend:
Locating the center of mass of thigh and shank segments of the right leg

4. Date of download: 11/16/2017
Copyright © ASME. All rights reserved.
From: On the Design of a Passive Orthosis to Gravity Balance Human Legs
J. Mech. Des. 2004;127(4): doi: /
Figure Legend:
A schematic of each leg with the attachment of spring k to the leg center of mass

5. Date of download: 11/16/2017
Copyright © ASME. All rights reserved.
From: On the Design of a Passive Orthosis to Gravity Balance Human Legs
J. Mech. Des. 2004;127(4): doi: /
Figure Legend:
A schematic of the gravity-balanced leg with all springs

6. Date of download: 11/16/2017
Copyright © ASME. All rights reserved.
From: On the Design of a Passive Orthosis to Gravity Balance Human Legs
J. Mech. Des. 2004;127(4): doi: /
Figure Legend:
Joint angles of right leg during single limb support (—knee flexion; ⋯, hip flexion; –– ––, hip abduction; –∙–, hip rotation)

7. Date of download: 11/16/2017
Copyright © ASME. All rights reserved.
From: On the Design of a Passive Orthosis to Gravity Balance Human Legs
J. Mech. Des. 2004;127(4): doi: /
Figure Legend:
Joint effectiveness of right leg during single limb support (—, knee flexion; ⋯, hip flexion; –– ––, hip abduction; –∙–, hip rotation)