Dynamic Balance Gait for Walking Assistance Exoskeleton

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2018/7847014/figures/7847014.fig.005a.svgz" name="7847014.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>When orbital energy is too large to decrease, LIP model falls down</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2018/7847014/figures/7847014.fig.005b.svgz" name="7847014.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Control orbital energy by changing step length <i>S</i></td></tr></table>

<div>Definition of balance with orbital energy.</div>

Applied Bionics and Biomechanics

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Figure 5

Figure 5: Dynamic Balance Gait for Walking Assistance Exoskeleton 