Segmental Angular Momenta Analysis in Perturbed Human Walking for Stability of Lower Limb Exoskeleton

This paper presents preliminary results of segmental angular momenta analysis in human walking subjected to lateral pelvic perturbations. The results show that angular momenta of specific segments, right upper leg and right foot in the study, were mostly affected by the applied perturbations. This finding will be further utilized to develop a perturbation detection method for monitoring stability while lower limb exoskeleton-supported walking.