Human Motion Analysis and Its Application to Walking Stabilization With COG and ZMP

A stability index has been generally used in a gait system of formulaic structure. In this standardized structure, a human model has a center of gravity (COG), while a robot device has a zero moment point (ZMP) with COG as the stability standard in the walking motion. In the gait system of wearable type, the stability of human model is closely related with the robot device, in other words, the COG and ZMP are located in the limited domain of human motion and robot task. In this paper, the human and device are designed individually and the knee joint of human is unconstrained from the device work to allow the human reliance. The stability index that includes the COG and ZMP is defined. The validation of this index is guaranteed through a few tests to describe a correlation between the stability index and the human model condition. Based on the validity of the stability index, the experiment for the walking stabilization is implemented with the ZMP estimation by reaction torque observer.

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