Figure 2. Internal (on the left) and external (on the right) force action in exoskeleton [5,6]

From

Robotic Exoskeleton for Rehabilitation of the Upper Limb

Boris Jobbágy, Dušan Šimšík, Jiří Marek, Ján Karchňák, Daniela Onofrejová

American Journal of Mechanical Engineering. 2014, 2(7), 299-302 doi:10.12691/ajme-2-7-27