Real Time Computation of Centroidal Momentum for the Use as a Stability Index Applicable to Human Walking with Exoskeleton

This abstract presents the real time computation of Centroidal Momentum (CM) in human walking while addressing its applicability as a stability index to human walking with exoskeleton. To this end, a real time full body motion capture suit solution was employed and it was tested both in steady over ground walking and in walking with tripping events. Results show that observation of CM is able to detect abnormal state of human gait in real time thanks to its inherent physical meaning.