Part II: Static Analysis

The exoskeleton needs to detect human motion and provide proper levels of torque to assist with mobility for maximized comfortless. While real$-$time control and sensing is still challenging for you, you can still manually analyze some simplified scenarios.

Assume that you are lifting a weight of $20$ kg with the help from your exoskeleton. Perform a static analysis to calculate the moment $($torque$)$ required from the motor to minimize muscle strain. Express this torque as a function of angle $\backslash (\backslash$theta $\backslash )$ between lower and upper arms $($see Fig. $3).$

You are required to draw a free body diagram for your analysis and include detailed analysis.