Real Time Computation of Centroidal Momentum for the Use as a Stability Index Applicable to Human Walking with Exoskeleton

  • Je Hyung JungEmail author
  • Lidwine Van Opheusden
  • Pierre Barralon
  • Jan F. Veneman
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 16)


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.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Je Hyung Jung
    • 1
    Email author
  • Lidwine Van Opheusden
    • 2
  • Pierre Barralon
    • 1
  • Jan F. Veneman
    • 1
  1. 1.Health DivisionTECNALIADonostia-San SebastianSpain
  2. 2.University of TwenteEnschedeNetherlands

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