UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

Statically vs dynamically balanced gait: analysis of a robotic exoskeleton compared with a human

Barbareschi, G; Richards, R; Thornton, M; Carlson, T; Holloway, C; (2015) Statically vs dynamically balanced gait: analysis of a robotic exoskeleton compared with a human. In: 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). (pp. pp. 6728-6731). IEEE: Milan, Italy. Green open access

[thumbnail of EMBC15_1021_FI.pdf] Text
EMBC15_1021_FI.pdf

Download (422kB)

Abstract

In recent years exoskeletons able to replicate human gait have begun to attract growing popularity for both assistive and rehabilitative purposes. Although wearable robots often need the use of external support in order to maintain stability, the REX exoskeleton by REX Bionics is able to self-balance through the whole cycle. However this statically balanced gait presents important differences with the dynamically balanced gait of human subjects. This paper will examine kinematic and kinetic differences between the gait analysis performed on a subject wearing the REX exoskeleton and human gait analysis data as presented in literature. We will also provide an insight on the impact that these differences can have for both rehabilitative and assistive applications.

Type: Proceedings paper
Title: Statically vs dynamically balanced gait: analysis of a robotic exoskeleton compared with a human
Event: 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/EMBC.2015.7319937
Publisher version: http://dx.doi.org/10.1109/EMBC.2015.7319937
Language: English
Additional information: Copyright © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords: Exoskeletons, Hip, Joints, Knee, Legged locomotion, Stability analysis, gait analysis, handicapped aids, medical robotics, REX Bionics, REX exoskeleton, dynamically balanced gait, human gait analysis, robotic exoskeleton, statically balanced gait
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/1469267
Downloads since deposit
520Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item