Force Analysis and Evaluation of a Pelvic Support Walking Robot with Joint Compliance

Figure 7

The effect of gait velocity on the interaction forces. From left to right: 0 m/s (walking on a treadmill with PB), 0.4 m/s, and 0.8 m/s, respectively. The curves applied to the user are the average curves from 10 subjects and the last two tests are performed on ground with PB. The interaction forces , , and are the output signals from the ATI force sensors.

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