title: Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human.
abstract: In recent years exoskeletons able to replicate human gait have begun to attract growing popularity for both assistive and rehabilitative purposes. Although wearable robots often need the use of external support in order to maintain stability, the REX exoskeleton by REX Bionics is able to self-balance through the whole cycle. However this statically balanced gait presents important differences with the dynamically balanced gait of human subjects. This paper will examine kinematic and kinetic differences between the gait analysis performed on a subject wearing the REX exoskeleton and human gait analysis data as presented in literature. We will also provide an insight on the impact that these differences can have for both rehabilitative and assistive applications.
authors.forename: Giulia
authors.initials: G
authors.lastname: Barbareschi
authors.forename: Rosie
authors.initials: R
authors.lastname: Richards
authors.forename: Matt
authors.initials: M
authors.lastname: Thornton
authors.forename: Tom
authors.initials: T
authors.lastname: Carlson
authors.forename: Catherine
authors.initials: C
authors.lastname: Holloway
mesh_terms: D000328:Adult; D000843:Ankle Joint / Q000502:physiology*; D001696:Biomechanical Phenomena; D001701:Bionics; D000067190:Exoskeleton Device; D005260:Female; D005684:Gait / Q000502:physiology*; D006801:Humans; D007700:Kinetics; D015233:Models, Statistical; D009989:Orthotic Devices; D010865:Pilot Projects; D012371:Robotics; D016138:Walking / Q000502:physiology*