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Figure 2.
Figure 3.
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Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Figure 10.
Specifications for the contributing links in the Moments of Inertia (MOI) equations discussed in section Kinematics_
| Specifications | |||||
|---|---|---|---|---|---|
| Link | Height (in) | Weigh (in) | Depth (in) | Mass (lbs) | Moment of Inertia |
| 2.48 | 2.06 | 1.97 | 0.87 | 3.13 | |
| 16.50 | 2.06 | 1.97 | 13.2 | 1727.93 | |
| 16.50 | 2.06 | 1.97 | 13.2 | 1727.93 | |
| Sum of MOI (kg*sq.in) | 3459 | ||||
UT1
| BW | Body weight |
| G | Gravity |
| GRF | Ground reaction force |
| HR | Heart rate |
| LBNP | Lower body negative pressure |
| γ | The angle between the horizontal and the ground pivot on the right side of the mechanism |
| θ | Input position |
| θ̇ | Velocity |
| θ̈ | Acceleration |
| s | Position of the spring |
| ṡ | Velocity of the spring |
| I* | Equivalent inertia of the system |
| I | mass of inertia |
| m | mass |
| Fspring | Resistance provided by the spring |
| Fuser | Resistive force |
| lo | Link length of the member between the horizontal and the ground pivot on the right side of the mechanism |
| l1 | Link length of the member between lo and the rotational pivot |
| l2 | Link length of the member below the rotational pivot |
| l3 | Link length of the member above the rotational pivot |
| ΔP | Pressure differential force- the difference between the pressures inside the Box vs. outside the Box |
| Axy | Cross sectional area of the seal which is placed around the subject’s waist |
| β | The angle between vector Fuser and the arm l3 |
Spring specifications used in the resistance equations discussed in section Kinematics_
| Spring Properties | |
|---|---|
| Stroke length (in) | 3 |
| Eye to eye length (in) | 12.51 |
| Spring rate (k) | 650 |