Design and Performance Evaluation of a Wearable Sensing System for Lower-Limb Exoskeleton

Figure 6

The CoP for the left foot; the black circle denotes the pressure-bearing point. (a) The trajectory of the CoP. (b) The magnitude of the total force during contact of the left foot to the ground. (c) The trajectory of CoP when the heel touches the ground up to point when the toe lifts from the ground.

(a)

(b)

(c)