Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory

  • Mei-ying Deng
  • Zhang-yi Ma
  • Ying-nan Wang
  • Han-song Wang
  • Yi-bing Zhao
  • Qian-xiao Wei
  • Wei Yang
  • Can-jun YangEmail author


We study the balance problem caused by forward leaning of the wearer’s upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous capture point is obtained by modeling the human-exoskeleton system and using the capture point theory. By comparing the stability region with instantaneous capture points of different gait phases, the balancing characteristics of different gait phases and changes to the equilibrium state in the gait process are analyzed. Based on a model of the human-exoskeleton system and the condition of balance of different phases, a trajectory correction strategy is proposed for the instability of the human-exoskeleton system caused by forward leaning of the wearer’s upper body. Finally, the reliability of the trajectory correction strategy is verified by carrying out experiments on the Zhejiang University Lower Extremity Exoskeleton. The proposed trajectory correction strategy can respond to forward leaning of the upper body in a timely manner. Additionally, in the process of the center of gravity transferred from a double-support phase to a single-support phase, the ratio of gait cycle to zero moment point transfer is reduced correspondingly, and the gait stability is improved.


Lower extremity exoskeleton Capture point Gait phase Balance of human-machine system 

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Compliance with ethics guidelines

Mei-ying DENG, Zhang-yi MA, Ying-nan WANG, Han-song WANG, Yi-bing ZHAO, Qian-xiao WEI, Wei YANG, and Can-jun YANG declare that they have no conflict of interest.

The Ethics Committee of Zhejiang University had reviewed the experimental procedure and method, and approved this experiment. Before the experiment, all subjects signed the informed written consent and agreed to participate in this experiment.


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Copyright information

© Zhejiang University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Zhejiang University HospitalHangzhouChina
  2. 2.State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhouChina

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