Fig. 5
From: High-strength and flexible mechanism for body weight support
The relationship between the posture of the units. a Symbols to represent the parameters of the 4 link mechanism for the mathematical formula. b Definition of angles \(\theta\). c Relationships between \(\theta _1\) and \(\theta _2\) – \(\theta _5\). d The definition of \(l_\text{out}\) and \(l_\text{in}\). e Changes of wire length and ratio between CWL outside and inside in each unit