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We developed straight style transfer equipment for a person with disabled legs. It realizes travel in a standing position even on uneven ground, standing-up motion from a chair, and ascending stairs. This equipment comprises three modules: a pair of elastic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. We show the conceptual design of the equipment and the motion of each module. Cooperative operations using three modules are discussed through simulations. We verified travel in a standing position, including rotation, through experiments using prototypes of elastic crutches and mobile platforms.
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Mori et al. (2004) studied this question.