2.2.1. Kinematics

Considering the proposed task and its phases, the kinematics shown in Figure 3 has been proposed for the exoskeleton. In particular, the proposed kinematics is composed by 2 degrees of freedom (DoFs), allowing to perform the complete sequence of task phases while minimizing the DoFs of the device and, therefore, its complexity (i.e., minimizing size, weight and cost of the solution). The *Denavit-Hartenberg parameters* of the proposed solution are summarized in Table 1.

**Figure 3.** Kinematics of the proposed device.

**Table 1.** Denavit Hartenberg parameters of the proposed device.

