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Table 1 Operating parameters of Armeo®Spring exoskeleton

From: Weight compensation characteristics of Armeo®Spring exoskeleton: implications for clinical practice and research

  Upper Module Spring Settings
A B C D E F G H I
Slack Angle* −25° −15° −5° 15° 25° 35° N/A N/A
Functional Range* 15° 25° 35° 45° 55° 65° 75° 80° 80°
Full Loading Range* 65° 55° 45° 35° 25° 15°
U1L1
Exoskeleton Balance Angle OOR −37° −29° −18° −7° 15° 30° OOR
Unloading Range 11° 22° 33° 43° 55° 70° 80°
Partial Loading Range 15° 22° 24° 23° 22° 22° 20° 10°
U4L5
Exoskeleton Balance Angle OOR OOR −39° −26° −15° −3° 10° 24° OOR
Unloading Range 14° 25° 37° 50° 64° 80°
Partial Loading Range 15° 25° 34° 31° 30° 28° 25° 16°
U7L8
Exoskeleton Balance Angle OOR OOR OOR −35° −22° −10° −2° 18° 38°
Unloading Range 18° 30° 38° 58° 78°
Partial Loading Range 15° 25° 35° 40° 37° 35° 37° 22°
U10L12
Exoskeleton Balance Angle OOR OOR OOR OOR −27° −16° −3° 12° 28°
Unloading Range 13° 24° 37° 52° 68°
Partial Loading Range 15° 25° 35° 45° 42° 41° 38° 28° 12°
  1. *Applicable to all length configurations
  2. Slack angle, functional range, and full loading range are consistent for all length configurations (U1L1, U4L5, U7L8, U10L12). Exoskeleton balance angle, unloading range, and partial loading range vary by spring (A-I) and length settings (OOR, outside operating range; N/A, not applicable)