Real Time Computation of Centroidal Momentum for the Use as a Stability Index Applicable to Human Walking with Exoskeleton
This abstract presents the real time computation of Centroidal Momentum (CM) in human walking while addressing its applicability as a stability index to human walking with exoskeleton. To this end, a real time full body motion capture suit solution was employed and it was tested both in steady over ground walking and in walking with tripping events. Results show that observation of CM is able to detect abnormal state of human gait in real time thanks to its inherent physical meaning.
Authors thank Henk Luinge from Xsens for providing their platform for the study.
- 2.Jung, J.H., Gutiérrez, I., Veneman, J.: The use of centroidal momentum analysis for defining a stability index for walking with an exoskeleton. In: TAR 2015: Technically Assisted Rehabilitation Conference, Berlin, Germany (2015)Google Scholar
- 3.Jung, J.H., Veneman , J.: Centroidal momentum analysis for defining a stability index for human-exoskeleton interactive walking: perturbation detection in human gait. Assistance and Service Robotics in a Human Environment Workshop in conjunction with 2015 IROS, September 28 2015–Oct. 2, 2015, Hamburg, GermanyGoogle Scholar
- 4.Herr and, H., Popovic, M.: Angular momentum in human walking. J. Exp. Biol. 211(4), 467–481 (2008)Google Scholar