Dynamic Balance Gait for Walking Assistance Exoskeleton

Figure 8

Experimental results of different gait patterns with external force (−5 N, −15 N, and −25 N).

(a) Orbital energy of different gait patterns with external force −5 N

(b) Foot trajectories of different gait patterns with external force −5 N

(c) Orbital energy of different gait patterns with external force −15 N

(d) Foot trajectories of different gait patterns with external force −15 N

(e) Orbital energy of different gait patterns with external force −25 N

(f) Foot trajectories of different gait patterns with external force −25 N