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

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Wearable Robotics: Challenges and Trends

Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 16))

Abstract

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.

This work has been supported by the partially EU funded project BALANCE, FP7-ICT-2011.2.1 grant no. 601003.

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References

  1. Dollar, A.M., Herr, H.: Lower-extremity exoskeleteon and active orthoses: challenges and state-of-the-art. IEEE Trans. Robot. 24(1), 144–158 (2008)

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Acknowledgments

Authors thank Henk Luinge from Xsens for providing their platform for the study.

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Authors and Affiliations

  1. Health Division, TECNALIA, Mikeletegi Pasealekua 1-3, 20009, Donostia-San Sebastian, Spain

    Je Hyung Jung, Pierre Barralon & Jan F. Veneman

  2. University of Twente, Drienerlolaan 5, 7522 NB, Enschede, Netherlands

    Lidwine Van Opheusden

Authors
  1. Je Hyung Jung
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  2. Lidwine Van Opheusden
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  3. Pierre Barralon
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  4. Jan F. Veneman
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Corresponding author

Correspondence to Je Hyung Jung .

Editor information

Editors and Affiliations

  1. Spanish National Research Council, Cajal Institute Spanish National Research Council, Madrid, Spain

    José González-Vargas

  2. Spanish National Research Council, Cajal Institute Spanish National Research Council, Madrid, Spain

    Jaime Ibáñez

  3. Cullen College of Engineering, University of Houston Cullen College of Engineering, Houston, Texas, USA

    Jose L. Contreras-Vidal

  4. University of Twente , Enschede, The Netherlands

    Herman van der Kooij

  5. Spanish National Research Council, Cajal Institute Spanish National Research Council, Madrid, Spain

    José Luis Pons

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Jung, J.H., Van Opheusden, L., Barralon, P., Veneman, J.F. (2017). Real Time Computation of Centroidal Momentum for the Use as a Stability Index Applicable to Human Walking with Exoskeleton. In: González-Vargas, J., Ibáñez, J., Contreras-Vidal, J., van der Kooij, H., Pons, J. (eds) Wearable Robotics: Challenges and Trends. Biosystems & Biorobotics, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-46532-6_26

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  • DOI: https://doi.org/10.1007/978-3-319-46532-6_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-46531-9

  • Online ISBN: 978-3-319-46532-6

  • eBook Packages: EngineeringEngineering (R0)

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