Assisting Human Balance in Standing With a Robotic Exoskeleton.

This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced them to step forward with the right leg for balance recovery. Trials with and without exoskeleton assistance to move the stepping legs thigh were conducted to inves...