Gait Stability Assessment within a Patient-Cooperative Lower Limb Exoskeleton

Lukas Bergmann; Viet Duc Phan; Steffen Leonhardt; Choung Ngo

Proceedings on Automation in Medical Engineering
Vol. 2 No. 1 (2023): Proc AUTOMED

Rehabilitation technology, ID 715

Gait Stability Assessment within a Patient-Cooperative Lower Limb Exoskeleton

Lukas Bergmann (Chair for Medical Information Technology, RWTH Aachen University, Aachen, Germany), Viet Duc Phan (Chair for Medical Information Technology, RWTH Aachen University, Aachen, Germany), Steffen Leonhardt (Chair for Medical Information Technology, RWTH Aachen University, Aachen, Germany), Choung Ngo (Chair for Medical Information Technology, RWTH Aachen University, Aachen, Germany)

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

Gait stability and user safety are crucial aspects in order to use assistive exoskeletons not only for rehabilitation therapy but also for mobility support in daily life. For this reason, we present a gait stability assessment approach based on the Center of Mass and the Zero Moment Point. The designed balance observer successfully detects falls in the forward and backward directions as they occur. In the future, gait stabilizing controls will be designed based on this approach.

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