Design and Analysis of a Harness for Torso Force Application in Locomotion Interfaces

This paper presents a new design of a harness for torso force application in locomotion interfaces. This mechanical coupling between a user’s body and the force feedback device is a key aspect for the effective exploitation of this class of devices. Issues of compliance, backlash, force distribution, and comfort have been considered in the new design. Experimental results show that subjects adjust their hip torque depending on the exact point of force application along the back.