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  4. Assessing Balance During Gait with a Lower Limb Exoskeleton
 
conference paper

Assessing Balance During Gait with a Lower Limb Exoskeleton

Orhan, Zeynep Ozge  
•
Sizaret, Adrien Matteo Eloi  
•
Ijspeert, Auke  
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Pons, Jose L.
•
Tornero, Jesus
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2025
Converging Clinical and Engineering Research on Neurorehabilitation V. Proceedings of the 6th International Conference on Neurorehabilitation (ICNR 2024), November 5–8, 2024, La Granja, Spain
6th International Conference on Neurorehabilitation

Maintaining balance is a critical aspect of human gait, especially for individuals with balance deficiencies. Accurate assessment and monitoring of balance are essential to reduce the risk of falls and improve mobility outcomes. Individuals with balance impairments tend to adopt larger step widths, resulting in increased mediolateral center of mass displacement with increased step-to-step variability. We aim to establish a quantitative metric that can accurately detect balance deficiencies, potentially improving the safety and effectiveness of lower limb exoskeletons. Using the linear inverted pendulum model, we estimated the mediolateral center of mass displacement in three healthy subjects walking with narrow, normal, and wide step widths. Our analysis demonstrates the importance of mediolateral center of mass displacement for assessing balance and stability during walking showing the significant differences in this metric with varying step widths. By leveraging this metric, we aim to enhance the balance assistance with lower limb exoskeletons.

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Type
conference paper
DOI
10.1007/978-3-031-77588-8_45
Scopus ID

2-s2.0-86000494794

Author(s)
Orhan, Zeynep Ozge  
•
Sizaret, Adrien Matteo Eloi  
•
Ijspeert, Auke  
•
Bouri, Mohamed  
Editors
Pons, Jose L.
•
Tornero, Jesus
•
Akay, Metin
Date Issued

2025

Publisher

Springer Nature Switzerland

Publisher place

Cham, Switzerland

Published in
Converging Clinical and Engineering Research on Neurorehabilitation V. Proceedings of the 6th International Conference on Neurorehabilitation (ICNR 2024), November 5–8, 2024, La Granja, Spain
DOI of the book
https://doi.org/10.1007/978-3-031-77588-8
ISBN of the book

978-3-031-77587-1

978-3-031-77588-8

Total of pages

832

Book part number

Volume 1

Series title/Series vol.

Biosystems and Biorobotics (BiosSysRob); 31

ISSN (of the series)

2195-3570

2195-3562

Start page

228

End page

232

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
BIOROB  
SCI-STI-MB  
Event nameEvent acronymEvent placeEvent date
6th International Conference on Neurorehabilitation

ICNR 2024

La Granja, Spain

2024-11-05 - 2024-11-08

Available on Infoscience
March 25, 2025
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/248248
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