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Analysis of the relationship between selected stability assessment indicators on the example of leaning out the human body from the upright position

Matuszewska Agata, Buśkiewicz Jacek

Vibrations in Physical Systems

2020

Vol. 31, nr 2

art. no. 2020219

The objective of this paper is to study the margin of stability when trying to lean out the body forward and backward. The centre of mass of the body, the velocity of the centre of mass and extrapolated centre of mass were calculated for four participants. The analyzed movement was recorded by using BTS Motion Capture system. Recordings, in which participants were unable to return to the upright position, were also observed. In these cases, it was verified the usefulness of extrapolated centre of mass for predicting the foot support area that enables maintaining the body balance. The relationship between the applied stability indicators and anthropometric parameters was determined. The preliminary results obtained confirm the validity of the use of selected parameters in tests and in assessment of the stability of the human body, and indicate the directions of further tests for a larger group of participants and other movement activities.

Balance and stability issues in lower extremity exoskeletons: A systematic review

Hamza Mukhtar Fatihu, Ghazilla Raja Ariffin Raja, Muhammad Bashir Bala, Yap Hwa Jen

Biocybernetics and Biomedical Engineering

2020

Vol. 40, no. 4

1666--1679

The lower extremity exoskeletons (LEE) are used as an assistive device for disabled people, rehabilitation for paraplegic, and power augmentation for military or industrial workers. In all the applications of LEE, the dynamic and static balance, prevention of falling, ensuring controller stability and smooth human-exoskeleton interaction are of critical importance for the safety of LEE users. Although numerous studies have been conducted on the balance and stability issues in LEEs, there is yet to be a systematic review that provides a holistic viewpoint and highlights the current research challenges. This paper reviews the advances in the inclusion of falling recognition, balance recovery and stability assurance strategies in the design and application of LEEs. The current status of research on LEEs is presented. It has been found that Zero Moment Point (ZMP), Centre of Mass (CoM) and Extrapolated Center of mass (XCoM) ideas are mostly used for balancing and prevention of falling. In addition, Lyapunov stability criteria are the dominant methods for controller stability confirmation and smooth human-exoskeleton interaction. The challenges and future trend of this domain of research are discussed. Researchers can use this review as a basis to further develop methods for ensuring the safety of LEE's users.