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These safety harnesses for positioning and climbing have one D-ring on the upper back, two or more D-rings on the hip straps, one D-ring on the chest and a body belt. The hip D-rings and body belt connect to positioning and restraint lanyards that help keep the wearer positioned correctly while working at heights, leaving his or her hands free and reducing the energy it takes to stay in place. The chest D-ring allows the harness to be used with a ladder-climbing system to provide fall protection if the wearer slips while going up or down a ladder or tall structure. The back D-ring connects to a self-retracting lifeline or shock-absorbing lanyard that attaches to a secure anchor point.