Wearable data collection system for online gait stability analysis.

We had shown in our previous research that the stability assessment and control are essential for generation of faster and more energy efficient functional electrical stimulation (FES) and/or crutch-assisted gait. The objective of our recent research work has been to design a wearable and portable system for gait stability analysis with online capabilities that is also applicable to crutch-assisted gait modes. The developed wearable stability assessment system for as yet only biped gait consists of foot switches and goniometers attached to the leg joints.

Stability in legged locomotion.

Stability is a key element in a gait synthesis. Static stability margins are widely adopted in crawlers, while no similar approach has been developed for dynamically stable systems. Utilizing an analytical approach, we developed a set of easy-to-calculate stability indices to describe instantaneous static and dynamic (In)stability for a certain group of walking systems.