Proceedings on Automation in Medical Engineering
Vol. 2 No. 1 (2023): Proc AUTOMED
Gait Stability Assessment within a Patient-Cooperative Lower Limb Exoskeleton
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Abstract
Gait stability and user safety are crucial aspects in order to use assistive exoskeletons not only for rehabilitation therapy but also for mobility support in daily life. For this reason, we present a gait stability assessment approach based on the Center of Mass and the Zero Moment Point. The designed balance observer successfully detects falls in the forward and backward directions as they occur. In the future, gait stabilizing controls will be designed based on this approach.