Human Trunk Stabilization with Hip Exoskeleton for Enhanced Postural Control

  • Marko JamšekEmail author
  • Jan Babič
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


Tripping is a major cause of falls in elderly people. Considering that fall related injuries have severe consequences on their quality of life, there is an urgent need to develop preventive solutions. One such solution could be the use of assistive exoskeletons. In this work we investigated the effects of a hip exoskeleton on human posture under the influence of an external perturbation. During normal standing of a subject we applied a forward pulling force at the chest and then enabled or disabled the exoskeleton randomly. By analysing the kinematics of the human body we compared responses to perturbations when the exoskeleton was enabled or disabled. The results show that the exoskeleton efficiently reduced the forward inclination of the trunk by 40%.


  1. 1.
    Berg, W.P., Alessio, H.M., Mills, E.M., Tong, C.: Circumstances and consequences of falls in independent community-dwelling older adults. Age Ageing 26(4), 261–268 (1997)CrossRefGoogle Scholar
  2. 2.
    Roudsari, B.S., Ebel, B.E., Corso, P.S., Molinari, N.A.M., Koepsell, T.D.: The acute medical care costs of fall-related injuries among the U.S. older adults. Injury 36(11), 1316–1322 (2005)CrossRefGoogle Scholar
  3. 3.
    Eng, J.J., Winter, D.A., Patla, A.E.: Strategies for recovery from a trip in early and late swing during human walking. Exp. Brain Res. 102(2), 339–349 (1994)CrossRefGoogle Scholar
  4. 4.
    Pijnappels, M., Bobbert, M.F., Van Dieën, J.H.: Contribution of the support limb in control of angular momentum after tripping. J. Biomech. 37(12), 1811–1818 (2004)CrossRefGoogle Scholar
  5. 5.
    Pijnappels, M., Bobbert, M.F., Van Dieën, J.H.: How early reactions in the support limb contribute to balance recovery after tripping. J. Biomech. 38(3), 627–634 (2005)CrossRefGoogle Scholar
  6. 6.
    Pijnappels, M., Bobbert, M.F., Van Dieën, J.H.: Push-off reactions in recovery after tripping discriminate young subjects, older non-fallers and older fallers. Gait Posture 21(4), 388–394 (2005)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Laboratory for Neuromechanics and Biorobotics, Department of Automation, Biocybernetics and RoboticsJožef Stefan InstituteLjubljanaSlovenia
  2. 2.Jožef Stefan International Postgraduate SchoolLjubljanaSlovenia

Personalised recommendations