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A final design of a nonpowered, wearable exoskeletal device is presented. The device follows all basic movements of the wearer except for the fingers, toes and neck. Two features of the exoskeleton are that each joint has adjustable stops that can be used to limit the range of motion, and each joint is instrumented to record its position continuously with time. The exoskeleton is adjustable for size so that it can be worn by 90 percent of the adult, male population. A test program is discussed that is used to draw conclusions concerning the feasibility of surrounding a person with an exoskeleton during the performance of work tasks. Experiments to determine experimentally the effect of limiting the allowable range of motion at given joints upon the ability of the subject to perform selected tasks are presented. Velocity and acceleration of exoskeletal joints during the performance of certain tasks are given.

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Preliminary Design of a Full-Scale, Wearable, Exoskeletal Structure.

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